A.3.9 On-Off-Road Mission performance 2003

VaMoRs ready for mission demonstration in 2001. The vehicle and two road sections of the mission can be seen in the insert. Above it, the gaze control platform is seen with five cameras mounted; there was a special pair of parallel stereo cameras in the top row for using hard- and software of a US-partner in a joint project ‘Autonav’ between Germany and the USA.

Final demonstrations of the capabilities developed with EMS-vision

[Last project “Intelligente Fahrzeug-Funktionen” IFF (Intelligent functions for autonomous ground vehicle guidance) of ED Dickmanns’ group.]

  • Joint venture in the German – US-American “AutoNav” project with [ARL, NIST and Sarnoff Corporation (SRI)].

  • Perception of negative obstacles (here: a ditch of ~ 0.8 m width and ~ 4m length) was done jointly by

    1. EMS-vision for early detection at longer ranges, and

    2. an ACADIA-board of Sarnoff plugged into one of the PC’s in the EMS-system for (full image / full frame rate)- stereo vision nearby.

  • Saccadic vision after an intermediate stop to estimate the size of the ditch when it could not be fully seen in a single viewing direction.

  • Drive around the nearest corner with least change of heading direction and fixate the corner as long as possible.

Video 33 VaMoRs / EMS On-Off-Road Mission Performance 2003



References

Dickmanns ED (2000). An Expectation-based, Multi-focal, Saccadic (EMS) Vision System for Vehicle Guidance. In Hollerbach and Koditschek (eds.): ‚Robotics Research‘ (The Ninth Symposium), Springer-Verlag

Gregor R, Dickmanns, ED (2000). EMS-Vision: Mission Performance on Road Networks. Proc. Int. Symp. on Intelligent Vehicles (IV’2000), Dearborn, (MI)

Gregor R, Lützeler M, Pellkofer M, Siedersberger KH, Dickmanns ED (2000). EMS-Vision: A Perceptual System for Autonomous Vehicles. Proc. Int. Symposium on Intelligent Vehicles (IV’2000), Dearborn, (MI)

Lützeler M, Dickmanns ED (2000). EMS-Vision: Recognition of Intersections on Unmarked Road Networks. Proc. Int. Symp. on Intelligent Vehicles (IV’2000), Dearborn, (MI) , Oct. 4-5, 2000

Maurer M (2000). Knowledge Representation for Flexible Automation of Land Vehicles. Proc. Int. Symp. on Intelligent Vehicles (IV’2000), Dearborn, (MI)

Pellkofer M, Dickmanns ED (2000). EMS-Vision: Gaze Control in Autonomous Vehicles. Proc. Int. Symp. on Intelligent Vehicles (IV’2000), Dearborn, (MI)

Rieder A (2000). Fahrzeuge sehen - Multisensorielle Fahrzeugerkennung in einem verteilten Rechnersystem für autonome Fahrzeuge. Dissertation, UniBwM / LRT

Siedersberger K-H (2000). EMS-Vision: Enhanced Abilities for Locomotion. Proc. Int. Symp. on Intelligent Vehicles (IV’2000), Dearborn, (MI)

Gregor R, Lützeler M, Dickmanns ED (2001). EMS-Vision: Combining on- and off-road driving. Proc. SPIE Conf. on Unmanned Ground Vehicle Technology III, AeroSense ‘01, Orlando (FL),

Gregor R, Lützeler M, Pellkofer M, Siedersberger K-H, Dickmanns ED (2001). A Vision System for Autonomous Ground Vehicles with a Wide Range of Maneuvering Capabilities. Proc. ICVS, Vancouver

Siedersberger K-H; Pellkofer M, Lützeler M, Dickmanns ED, Rieder A, Mandelbaum R, Bogoni I (2001).  Combining EMS-Vision and Horopter Stereo for Obstacle Avoidance of Autonomous Vehicles. Proc. ICVS, Vancouver

Pellkofer M, Lützeler M, Dickmanns ED (2001). Interaction of Perception and Gaze Control in Autonomous Vehicles. Proc. SPIE: Intelligent Robots and Computer Vision XX; Newton, USA, pp 1-12

Gregor R, Lützeler M, Pellkofer M, Siedersberger KH, Dickmanns ED (2002). EMS-Vision: A Perceptual System for Autonomous Vehicles. IEEE Trans. on Intelligent Transportation Systems, Vol.3, No.1, pp. 48 – 59

Gregor R (2002). Fähigkeiten zur Missionsdurchführung und Landmarkennavigation. Dissertation, UniBwM / LRT

Pellkofer M, Hofmann U, Dickmanns ED (2003). Autonomous cross-country driving using active vision. SPIE Conf. 5267, Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision. Photonics East, Providence, Rhode Island

Pellkofer M (2003). Verhaltensentscheidung für autonome Fahrzeuge mit Blickrichtungssteuerung. Diss., UniBwM, LRT

Siedersberger K-H (2004). Komponenten zur automatischen Fahrzeugführung in sehenden (semi-) autonomen Fahrzeugen. Dissertation, UniBwM, LRT, 2004

Hofmann U (2004). Zur visuellen Umfeldwahrnehmung autonomer Fahrzeuge. Dissertation, UniBwM / LRT.

von Holt V (2004). Integrale Multisensorielle Fahrumgebungserfassung nach dem 4D-Ansatz. Dissertation, UniBwM / LRT.

Dickmanns ED (2007). Dynamic Vision for Perception and Control of Motion. Springer-Verlag, (Section 14.6.6).