Maurer et al. 1994 : A sedan Mercedes 500 SEL has been equipped with active bifocal vision systems. Road and object recognition is performed both in a look-ahead and in a look-back region; this allows to servo-maintain an internal representation of the entire situation around the vehicle using the 4-D approach to dynamic machine vision. Obstacles are detected and tracked both in the forward and in the backward viewing range up to about 100 meters distance; up to 5 objects may be tracked in parallel in each hemisphere. A fixation type viewing direction control with the capability of saccadic shifts for attention focusing has been developed.
The overall system comprises about 5 dozen transputers T-222 (16-bit, for image processing and communication) and T-800 (32-bit, for number crunching and knowledge processing) plus a PC as transputer host. A description of the parallel processing architecture is given allowing frequent data driven bottom-up and model driven top-down integration steps for efficient and robust object tracking (4-D approach).