Dickmanns et al. 1993 : An integrated system for visual road vehicle guidance
has been created on transputer-hardware and partly validated in normal Autobahn
traffic environments. The computer vision and dynamic scene understanding parts
are discussed. The system is capable of recognizing horizontal and vertical curvature
of the lane (road), lane width, number of lanes, the state of the own vehicle
relative to the lane, and the relative state of two other objects by recursive
monocular estimation following the 4-D approach as a unifying scheme for 3-D
dynamic scene understanding through motion stereo.
Experimental results with VaMoRs, a 5-ton van, are discussed; transputer hardware needed for these tests was about 30 liters.