A.3.9 On-Off-Road Mission performance 2003

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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-FunktionenIFF (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

 

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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. Extended_abstract

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

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) pdf

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, pdf

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) pdf

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

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

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. Abstract (and Introd.)

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. Kurzfassung

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. Kurzfassung

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

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

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

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

Dickmanns ED (2015). Contributions to Visual Autonomous Driving. A Review: c) Part III: Expectation-based, Multi-focal, Saccadic (EMS-) Vision (1997 ÷ 2004) pdf