Intelligent Vehicles '94 Symposium, Proceedings of the

24-26 Oct. 1994

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Displaying Results 1 - 25 of 105
  • ET-NET-an international travel/traffic information exchange network

    Publication Year: 1994, Page(s):596 - 601
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    With the continuing development of affordable mobile and fixed communications technologies the demand for real-time, accurate information on a wide variety of subjects and interests is increasing. In the transportation sector, such information demand growth can be seen in conjunction with fundamental changes in the methods of disseminating traffic and travel information to travellers. This paper d... View full abstract»

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  • Cartesian motion control of a mobile robot

    Publication Year: 1994, Page(s):443 - 448
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (400 KB)

    This paper presents the Cartesian motion control system of the autonomous mobile robot MACROBE (mobile and autonomous computer controlled robot experiment) of the Laboratory for Automatic Control Engineering, Technical University of Munich. This Cartesian motion control system is applicable to any vehicle with tricycle kinematic. It has a comfortable and open user interface and provides high path ... View full abstract»

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  • Inter-vehicle communication method for dynamic vehicle network

    Publication Year: 1994, Page(s):590 - 595
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (392 KB)

    In this paper, we propose an inter-vehicle communication method, which is based on the variable range communication, for a dynamic vehicle network as a means of data exchange. Each vehicle which has equipments of the proposed system can get the information related to the other cars' conditions, their relative positions, etc. And then, each vehicle can recognize the situation around itself and make... View full abstract»

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  • Towards realtime visual based tracking in cluttered traffic scenes

    Publication Year: 1994, Page(s):201 - 206
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (892 KB)

    Concerns automatic traffic scene analysis. Major improvements in performance and quality of results of machine vision based traffic surveillance systems allow connections to symbolic reasoning components that attain a high level of accuracy and reliability. We apply an approach for detecting and tracking vehicles in road traffic scenes using an explicit occlusion reasoning step. We represent movin... View full abstract»

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  • Parametric spectrum analysis for target characterization

    Publication Year: 1994, Page(s):149 - 154
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB)

    The most commonly applied technique to estimate the power density spectrum of a frequency modulated, continuous wave (FMCW) microwave radar system is the fast Fourier transform (FFT), which applies a deterministic signal approximation by a linear combination of a set of orthogonal functions (e.g. sine and cosine waves). In this paper the authors present an original approach of FMCW radar spectrum ... View full abstract»

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  • Robust road sign detection and recognition from image sequences

    Publication Year: 1994, Page(s):278 - 283
    Cited by:  Papers (29)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (660 KB)

    This paper describes a method for detecting and recognizing road signs in grey-level images acquired by a single camera mounted on a moving vehicle. An extensive experimentation has shown that the method is robust against low-level noise corrupting edge detection and contour following, and works for images of cluttered urban streets as well as country roads and highways. A further improvement on t... View full abstract»

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  • An architecture for dynamic, rational, mobile agents

    Publication Year: 1994, Page(s):515 - 519
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (324 KB)

    We are exploring the extent to which we can build autonomous, mobile agents with sufficiently wide behavioural repertoires to be able to tackle complex tasks in real-world domains. Our research is developing a layered architecture within which to characterise and implement such agents. The central problem we have to tackle is the ability to build agents that can perceive, plan and act under pressu... View full abstract»

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  • Modeling real-time dynamic queue length for urban traffic control systems

    Publication Year: 1994, Page(s):438 - 442
    Cited by:  Papers (1)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (276 KB)

    In this study, we chose two isolated intersections to collect traffic volume per minute, queue length, and signal timing in Taipei City traffic control network. There are two queue-length estimation equations, the system method of vehicle scanning and the regression method. In order to verify the said models, another data set was collected to compare with the traffic performance of the said models... View full abstract»

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  • Obstacle detection by real-time optical flow evaluation

    Publication Year: 1994, Page(s):97 - 102
    Cited by:  Papers (16)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (708 KB)

    Reliable estimation of optical flow vectors facilitates the evaluation of the motion of a camera relative to the environment. Furthermore, optical flow vectors comprise information about the 3D structure of the recorded scene. In this contribution we present an approach for the detection of stationary obstacles and moving objects in front of a vehicle. The detection of obstacles and other objects ... View full abstract»

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  • Synchronous protocol for real-time communications in intelligent vehicle

    Publication Year: 1994, Page(s):584 - 589
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (500 KB)

    In this paper we describe the design and implementation of a real-time distributed executive for an obstacles detection system, PRO-CHIP, using synchronous communication protocol. The synchronous protocol permits to preserve the consistency specification of the application algorithms. The executive model is based on generic executive kernel which contains a portable set of services (high level sys... View full abstract»

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  • A transportable neural network controller for autonomous vehicle following

    Publication Year: 1994, Page(s):195 - 200
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (444 KB)

    This paper presents the development and testing of a neural network controller for autonomous vehicle following. Autonomous vehicle following is defined as a vehicle controlling its own steering and speed while following a lead vehicle. The strength of the developed controller is that no characterization of vehicle dynamics is needed. As a result it can be transported to any vehicle regardless of ... View full abstract»

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  • Integration and control of reactive visual processes for visual navigation

    Publication Year: 1994, Page(s):32 - 38
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (736 KB)

    This paper describes a reactive approach to the integration and control of continuously operating visual processes. Visual processes are expressed as transformations which map signals from virtual sensors into commands for devices. These transformations define reactive processes which tightly couple perception and action. Such transformations may be used to control robotic devices, including fixat... View full abstract»

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  • Road segmentation and obstacle detection by a fast watershed transformation

    Publication Year: 1994, Page(s):296 - 301
    Cited by:  Papers (37)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (700 KB)

    This paper presents the work, performed at CMM as part of the European PROMETHEUS project, concerning road/lane segmentation and obstacle detection in a dynamic scene. Road/lane segmentation is used to select ROI where obstacle detection algorithms are applied. This segmentation is made up of a temporal filter, an edge detector and a watershed transformation. It produces a marker of the current tr... View full abstract»

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  • Obstacle detection in highway environment by colour CCD camera and image processing prototype installed in a vehicle

    Publication Year: 1994, Page(s):44 - 49
    Cited by:  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (644 KB)

    This paper deals with a demonstrator which has been developed at THOMSON-CSF/LER in cooperation with French car manufacturers (RENAULT and PSA Research Divisions) during the PROMETHEUS Programme. The vehicle is equipped with a video camera and image processing and visualization hardware. This system has been realized to demonstrate the important role that can be played by electronics, image and in... View full abstract»

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  • Robust lateral control of highway vehicles

    Publication Year: 1994, Page(s):375 - 380
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    Vehicle lateral dynamics are affected by vehicle mass, longitudinal velocity, vehicle inertia, and the cornering stiffness of the tires. All of these parameters are subject to variation, even over the course of a single trip. Therefore, a practical lateral control system must guarantee stability, and hopefully ride comfort, over a wide range of parameter changes. This paper describes a robust cont... View full abstract»

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  • An incremental approach to the advanced teleoperation of an earthwork equipment

    Publication Year: 1994, Page(s):556 - 561
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (636 KB)

    This paper describes the results of the activities carried out in the system requirements and specification definition phases of the ESPRIT funded project EP 6068 ATHENA (Advanced Teleoperation for earthwork Equipment Navigation). The aim of the ATHENA project is the automation of the operations performed currently by human drivers of earthwork equipment working within waste disposal site. The obj... View full abstract»

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  • Using binocular stereopsis for vision-based vehicle control

    Publication Year: 1994, Page(s):237 - 242
    Cited by:  Papers (3)  |  Patents (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (832 KB)

    Proposes a new approach for vision based longitudinal and lateral vehicle control which makes extensive use of binocular stereopsis. Longitudinal control-i.e. maintaining a safe, constant distance from the vehicle in front-is supported by detecting and measuring the distances to leading vehicles using binocular stereo. A known camera geometry with respect to the locally planar road is used to map ... View full abstract»

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  • All-weather and all-terrain intelligent vehicle for law enforcement applications

    Publication Year: 1994, Page(s):509 - 514
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (592 KB)

    The author selected neuro-fuzzy reasoning based motion control that is propulsion, dispulsion, suspension and conversion control algorithms to the mechatronically controlled intelligent vehicle. Fuzzy logic was chosen because of the following characteristics. It is easier to implement driver skills using neuro-fuzzy reasoning based motion control than using conventional motion control algorithms. ... View full abstract»

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  • A range security system for vehicle navigation

    Publication Year: 1994, Page(s):357 - 362
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (592 KB)

    The contribution of this research is the development of a security system the purpose of which is to assist the teleoperator of a mobile robot by providing him pertinent information about the robot working space. In this aim, the range image based perception system must be able to detect and localize, as fast as possible, obstacles (nontraversable regions) in the scene during robot's motion. In th... View full abstract»

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  • Modern electronic ignition in VIPower technology

    Publication Year: 1994, Page(s):435 - 437
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (208 KB)

    The trend for clean, lean-burn engines implies an increased use of microprocessor based engine management system (EMS) with electronic ignition. This paper describes a solid state integrated ignition driver circuit designed to drive a high energy coil in a microprocessor based EMS, under the direct guidance of a microcontroller. The paper starts with a review of the principal characteristics of th... View full abstract»

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  • The recovery of optical flow for intelligent cruise control

    Publication Year: 1994, Page(s):91 - 96
    Cited by:  Papers (8)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (644 KB)

    This paper describes the analysis of optical flows computed on image sequences taken by a TV camera mounted on a car moving in usual outdoor sceneries. The vibration of the TV camera makes the numerical computation of temporal derivatives very noisy and the texture of the road image is very poor. Therefore differential techniques do not provide adequate results. By using correlation based techniqu... View full abstract»

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  • Quantitative evaluation of the exploration strategies of an intelligent vehicle

    Publication Year: 1994, Page(s):538 - 543
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (628 KB)

    Methods are described by which a simple mobile robot with a single rotating sonar sensor can systematically explore its environment and generate high-quality maps. Leonard and Durrant-Whyte's technique (1992) of grouping similar adjacent sonar returns is extended to sparse data. A new measure of map quality is defined, based on predicting the usefulness of the map for planning a benchmark set of r... View full abstract»

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  • The European digital road map triggered by car information systems

    Publication Year: 1994, Page(s):582 - 583
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (168 KB)

    The paper focuses on the development of GDF as a standard for digital road maps. GDF is a geographical data format in which the data are defined in three different levels: level O contains the geometry and the topology of the information; level 1 defines real world objects; and on level 2, functionally related level 1 features are grouped into higher order objects. The creation of the European dig... View full abstract»

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  • Route planning of automated guided vehicles

    Publication Year: 1994, Page(s):479 - 484
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (488 KB)

    A few basic types of transportation functions of the automated guided vehicles are identified. Frameworks and issues related to the routing problems are then presented. The suitability of several generic topologies to each function is evaluated under the framework. It is believed that the precursory work can be a basis for future research and development in this area. View full abstract»

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  • A mobile robot and its trajectory control algorithm

    Publication Year: 1994, Page(s):225 - 230
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (384 KB)

    To provide a test-bed for research on many topics in the field of autonomous mobile robots, a manipulator attached to autonomous mobile service robot is being developed in the authors' laboratory. The designed robot, equipped with multiple sensors, driving mechanisms, computers and DC power sources, etc., is expected to navigate in an indoor environment automatically. Two arms mounted on the mobil... View full abstract»

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