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Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)最新文献

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Measurement of distance and height in images based on easy attainable calibration parameters 根据容易获得的校准参数测量图像中的距离和高度
Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511) Pub Date : 2000-10-03 DOI: 10.1109/IVS.2000.898361
Thomas Bucher
{"title":"Measurement of distance and height in images based on easy attainable calibration parameters","authors":"Thomas Bucher","doi":"10.1109/IVS.2000.898361","DOIUrl":"https://doi.org/10.1109/IVS.2000.898361","url":null,"abstract":"We present all image to world mapping requiring only a small and easy attainable set of parameters. The mapping provides an inverse perspective transformation, where the parameters required for the mapping can be estimated from a priori known objects or ground plane markings in the image. The world coordinate system is aligned with the projection of the optical axis onto the ground plane, in which the mapped points are assumed to lie. If no distance measurement is required the inverse perspective view can be generated by just specifying the vertical position of the horizon in the image. A modification of the basic mapping allows the determination of object heights if two corresponding vertical image coordinates are given.","PeriodicalId":114981,"journal":{"name":"Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126899707","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 25
A virtual mirror for assisting drivers 辅助驾驶员的虚拟后视镜
Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511) Pub Date : 2000-10-03 DOI: 10.1109/IVS.2000.898351
Sameer Pardhy, C. Shankwitz, M. Donath
{"title":"A virtual mirror for assisting drivers","authors":"Sameer Pardhy, C. Shankwitz, M. Donath","doi":"10.1109/IVS.2000.898351","DOIUrl":"https://doi.org/10.1109/IVS.2000.898351","url":null,"abstract":"Introduces the concept of a DGPS (Differential Global Positioning System) driven computer graphics display functioning as a mirror. This display, called a virtual mirror, is located inside the vehicle cabin and is intended to be used as a rear- or side-view mirror in automobiles or trucks. This virtual mirror integrates accurate DGPS vehicle positioning with an onboard geo-spatial database in order to render lane boundaries and road 'furniture' information in real time. Road traffic information, such as the locations and speeds of other vehicles relative to the host vehicle is provided by radar or inter-vehicle communication. The result is a system that mitigates the effect of blind spots and other described limitations of conventional mirrors.","PeriodicalId":114981,"journal":{"name":"Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126207381","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 13
Optimal trajectory planning with quintic G/sup 2/-splines 五次G/sup 2/-样条最优轨迹规划
Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511) Pub Date : 2000-10-03 DOI: 10.1109/IVS.2000.898417
C. Guarino Lo Bianco, A. Piazzi
{"title":"Optimal trajectory planning with quintic G/sup 2/-splines","authors":"C. Guarino Lo Bianco, A. Piazzi","doi":"10.1109/IVS.2000.898417","DOIUrl":"https://doi.org/10.1109/IVS.2000.898417","url":null,"abstract":"This paper deals with the generation of optimal paths for the automated steering of autonomous vehicles. The path is parametrized by quintic G/sup 2/-splines, or /spl eta/-spline, devised to guarantee the overall second order geometric continuity of a composite path interpolating an arbitrary sequence of points. Starting from the closed-form /spl eta/-parametrization of the spline an optimization criterion is proposed to design smooth curves. The aim is to plan curves where the curvature variability is kept as small as possible. With good approximation, in a flatness based control scheme, this corresponds to minimize the change-rate of the steering control. Various examples are included to highlight the ductility and effectiveness of the planning.","PeriodicalId":114981,"journal":{"name":"Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126319801","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 25
Motion estimation with a mobile camera for traffic applications 运动估计与移动相机的交通应用程序
Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511) Pub Date : 2000-10-03 DOI: 10.1109/IVS.2000.898318
M. van Leeuwen, F. Groen
{"title":"Motion estimation with a mobile camera for traffic applications","authors":"M. van Leeuwen, F. Groen","doi":"10.1109/IVS.2000.898318","DOIUrl":"https://doi.org/10.1109/IVS.2000.898318","url":null,"abstract":"This paper describes a digital rear-view mirror that assists the driver to analyze situations on the road behind him. From the observations of a single camera we want to derive the real-world motion of the vehicles behind our car. These observations are influenced by the egomotion of the camera. In our approach, we use a robust algorithm to estimate the mean viewing direction of the camera. Provided with this information we correct the observations on the fly to simulate the situation where the camera is looking straight backwards. This makes further processing algorithms less complex. We explain how to estimate real-world motion parameters of interest, like the time-to-contact and lane-shifts. Results based on practical data are presented to indicate the practical validity of our approach. The experiments show how the viewing direction is corrected in an accurate and robust way. The estimation procedure for the time-to-contact is improved by the correction algorithm for the viewing direction, but still requires some refinement.","PeriodicalId":114981,"journal":{"name":"Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)","volume":"7 1 Suppl 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121029913","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Automatic generation of intersection models from digital maps for vision-based driving on inner city intersections 基于数字地图的内城交叉口视觉驾驶交叉口模型自动生成
Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511) Pub Date : 2000-10-03 DOI: 10.1109/IVS.2000.898392
F. Heimes, K. Fleischer, H. Nagel
{"title":"Automatic generation of intersection models from digital maps for vision-based driving on inner city intersections","authors":"F. Heimes, K. Fleischer, H. Nagel","doi":"10.1109/IVS.2000.898392","DOIUrl":"https://doi.org/10.1109/IVS.2000.898392","url":null,"abstract":"Driver support in inner city road traffic still presents a considerable challenge for machine vision. Model-based machine vision becomes attractive in this context since it allows one to exploit the knowledge provided by a model in order to select relevant image structures. It requires, however, to make suitable models available to the computer vision system. This contribution shows that a digital road map for a commercial car navigation system can also be exploited, in order to generate road and intersection models which can be used by model-based tracking of related lane boundary markings in video image sequences recorded from within a driving vehicle. Results obtained by an implementation of this approach are presented.","PeriodicalId":114981,"journal":{"name":"Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125229291","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 18
Web-based vehicle localization 基于网络的车辆定位
Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511) Pub Date : 2000-10-03 DOI: 10.1109/IVS.2000.898382
A. Stockus, A. Bouju, F. Bertrand, P. Boursier
{"title":"Web-based vehicle localization","authors":"A. Stockus, A. Bouju, F. Bertrand, P. Boursier","doi":"10.1109/IVS.2000.898382","DOIUrl":"https://doi.org/10.1109/IVS.2000.898382","url":null,"abstract":"The development of wireless communications and the growing computational power of mobile devices reduces the difference between desktop and mobile computing environments. In this paper we present an embedded vehicle localization system which is developed on technologies commonly used in desktop applications. The architecture of our system is a client-server one. It is Web-based system. All data are presented to the user through a Web browser interface. They are processed locally by Java applets or on the server by Java applications. Data are accessed through common Internet connections: TCP/IP or higher level protocol like HTTP. Our system uses differential GPS for localization of vehicles and cellular phone for communication with data servers. It integrates the possibility to send differential GPS corrections through the Internet connection.","PeriodicalId":114981,"journal":{"name":"Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)","volume":"208 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122616450","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Color modeling by spherical influence field in sensing driving environment 基于球面影响场的传感驾驶环境色彩建模
Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511) Pub Date : 2000-10-03 DOI: 10.1109/IVS.2000.898350
D. Guo, Thierry Fraichard, Ming Xie, C. Laugier
{"title":"Color modeling by spherical influence field in sensing driving environment","authors":"D. Guo, Thierry Fraichard, Ming Xie, C. Laugier","doi":"10.1109/IVS.2000.898350","DOIUrl":"https://doi.org/10.1109/IVS.2000.898350","url":null,"abstract":"The Advanced Driver Assistance System provides attractive auxiliary equipment to improve the safety and efficiency of human driving. It has motivated active research concerned with the sensing of the driving environment. In this paper, technical issues concerning the sensing of the driving environment are discussed and a feasible sensor fusion scheme is presented. In the image processing module, an adaptive color model is proposed to detect the color features of the objects around the car by creating a color prototype as motivation. The color prototype is defined as an abstract representation of the color features in the driving environment. It constitutes a spherical influence field in color space. Color prototypes are generated from experience learning. They are able to represent the comprehensive color features of the object and their spherical influence fields can exactly bound the color region in color space. To obtain a proper description of a color feature, feature extraction is introduced to extract the representative color prototypes by dense weight estimation of the color prototypes, so that unrealistic or biased color prototypes are removed from the color model.","PeriodicalId":114981,"journal":{"name":"Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)","volume":"233 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123037519","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 71
EMS-vision: gaze control in autonomous vehicles ems -视觉:自动驾驶汽车的凝视控制
Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511) Pub Date : 2000-10-03 DOI: 10.1109/IVS.2000.898358
M. Pellkofer, E. Dickmanns
{"title":"EMS-vision: gaze control in autonomous vehicles","authors":"M. Pellkofer, E. Dickmanns","doi":"10.1109/IVS.2000.898358","DOIUrl":"https://doi.org/10.1109/IVS.2000.898358","url":null,"abstract":"The paper describes an approach to an optimal gaze control system for autonomous vehicles. This gaze control system should not only determine the viewing direction ad hoc for the present moment, but also plan and optimize the viewing behavior in advance for a certain period of time. For planning the viewing behavior the situation must be predicted. The expression 'situation' includes not only the physical situation, but also the so-called perceptive situation and subjective situation. The perceptive situation takes the present perception status, the present knowledge and the perception capabilities of the autonomous vehicle into consideration. The subjective situation contains locomotion tasks, status of vehicle sensors and actuators and subjective meanings of external objects resulting from the own point of view. For simulating the situation, the states and variances of all objects must be predicted. In the system for EMS-Vision, parts of the gaze control unit are already implemented and tested in both UBM test vehicles VaMoRs and VaMP. The embedding of the gaze control unit in the EMS-Vision architecture is discussed.","PeriodicalId":114981,"journal":{"name":"Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128134455","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 43
The electronic copilot for an autonomous vehicle-state of development 用于自动驾驶汽车的电子副驾驶仪——处于开发状态
Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511) Pub Date : 2000-10-03 DOI: 10.1109/IVS.2000.898336
Christian Ameling, A. Kirchner
{"title":"The electronic copilot for an autonomous vehicle-state of development","authors":"Christian Ameling, A. Kirchner","doi":"10.1109/IVS.2000.898336","DOIUrl":"https://doi.org/10.1109/IVS.2000.898336","url":null,"abstract":"Gives an outline of the current state of development of an electronic copilot (ECP). The ECP is used within an autonomous vehicle as a partially redundant system for the vehicle control. The ECP receives the necessary information about the positions and relative velocities of obstacles from various sources such as laser scanner or vision sensors. The algorithms for emergency braking and avoiding stationary obstacles are presented. If the time-to-collision falls below the braking- or evading-time the ECP starts to intervene. Experimental results show the capabilities of the system.","PeriodicalId":114981,"journal":{"name":"Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133642386","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
EMS-vision: recognition of intersections on unmarked road networks EMS-vision:识别无标记道路网络上的十字路口
Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511) Pub Date : 2000-10-03 DOI: 10.1109/IVS.2000.898359
M. Lutzeler, E. Dickmanns
{"title":"EMS-vision: recognition of intersections on unmarked road networks","authors":"M. Lutzeler, E. Dickmanns","doi":"10.1109/IVS.2000.898359","DOIUrl":"https://doi.org/10.1109/IVS.2000.898359","url":null,"abstract":"The ability to recognize intersections enables an autonomous vehicle to navigate on road networks for performing complex missions. The paper gives the geometry model for intersections applied and their interaction with active viewing direction control. Quality measures indicate to performance monitoring processes the reliability of the estimation results. The perception module is integrated in the EMS-Vision system. Results from autonomous turn-off maneuvers, conducted on unmarked campus roads are discussed.","PeriodicalId":114981,"journal":{"name":"Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)","volume":"338 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134259817","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 33
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