X.2 VaMP achievements (1993 – 2004)


Test vehicle ‘Prometheus’-project (SEL 500)

  • 2nd- generation transputer vision system with up to 60 processors;
  • bifocal vision both to the front and to the rear;
  • autonomous lane change decisions (two lanes).

video 18 TwofoldAutonLaneChangeParis 1994




High-speed road running , 1995: Up to 180 km/h

  • Curvature-based perception of own and neighboring lanes;
  • lateral ego-state including transition between lanes.
  • Large look-ahead ranges (bi-focal) up to ~ 100 m.



Convoy-driving on multi-lane highways, 1994

  • Monocular motion stereo with flat ground assumption,
  • vehicle width initially estimated (parameter adaptation),
  • then fixed for better monocular range estimation.

video 19 GroundVehiclesLearnToSee UBM1986-95



Long distance drive from Munich to Odense, 1995

A.3.8 Long distance drive VaMP 1995

  • Transputer system with Power-PC 601 processors (front hemisphere);
  • collect statistical data on edge-based vision system performance to derive improvements required of the 3rd-generation system based on COTS-components with much higher computing power.



Horizontal and vertical road curvature, 1999

  • At larger ranges, even small vertical curvatures are important for higher precision in monocular range estimation;
  • the yellow bars display curvature effects relative to the horizon line.

Hybrid Adaptive Cruise Control

  • Bifocal vision complementing an industrial radar system for more robust distance keeping, early version of EMS-vision system;
  • longitudinal control fully autonomous, lateral control by human driver to keep him ‘in the loop’ for achieving better attention.

Video 27

Hybrid Adaptive Cruise Control VaMP 2000



Wheel recognition under oblique views 2002

  • Most characteristic item for separating vehicles on roads from other large box-like objects;
  • improved estimates of the relative heading angle of the vehicle.
  • Allows better situation assessment for lane changes of other vehicles.

Video 34 (27)

WheelRecognUnderObliqueView 2003