Pellkofer et al. 2001a : In the Expectation-based,
Multi-focal, Saccadic (EMS-) Vision system of
UBM the vision sensor consists of four cameras with different focal lengths
mounted on a highly dynamic pan-tilt camera head. Image processing, gaze
control and behavior decision interact with each other in a closed loop form.
The behavior decision module specifies the relevance of obstacles like road
segments, crossings or landmarks in the situation context. The gaze control
unit takes all this information in order to plan, optimize and perform a
sequence of smooth pursuits, interrupted by saccades. The sequence with the
best information gain is performed. The information gain depends on the
relevance of objects or object parts, the duration of smooth pursuit maneuvers,
the quality of perception and the number of saccades. The functioning of the
EMS-Vision system is demonstrated in a complex and scalable autonomous mission
with the UBM test vehicle VAMORS.