A.3.1 Road recognition and vehicle guidance
- Shape description by curvature (change of direction over arc length)
- recognition by aggregated edge features (smooth continuation)
- relative ego-state from features nearby (in lower part of image)
- expectation-guided, efficient feature extraction including steer angle control output.
Vehicle guidance by feed-forward control from curvature and super-imposed state feedback with integral component of lateral offset.
A.3.2 Skidpan demo to Daimler-Benz AG 1986
First demonstration of dynamic vision capabilities for road vehicle guidance to Daimler-Benz Research:
- Longitudinal & lateral guidance with lateral acceleration feedback;
- speed range from 0 to 36 km/h (10 m/s), autonomous reduction to Vmax,curve = 7 m/s circling speed with radius ~ 50 m, yielding ~ 0.1 g lateral acceleration.
![A30image003](https://dyna-vision.de/wp-content/uploads/2021/03/A30image003-scaled.jpg)
A.3.3 Various types of roads with / without lane markings:
- High-speed roads with multiple lanes and lane markings,
- sealed roads without lane markings, with & without curbstones,
- shadows from trees and buildings in all seasons.
- Unsealed roads with noisy transition to shoulders.
A.3.4 Lane change
on a free road since 1987, situation-dependent feed-forward control time history with super-imposed (delayed) feedback in new lane. Autonomous lane change decision 1994.
A.3.5 Perception of horizontal and vertical curvature
decoupled by differential geometry formulation (vertical profile above the horizontal one), ~ constant road width for observability;
A.3.6.1 Single obstacle detection and avoidance
A.3.6.1a VaMoRs with 1st-generation vision system BVV2
Monocular motion stereo, an integral part of the 4-D approach; Underlying assumption:
- Gravity pulls both the obstacle and the own vehicle onto the flat ground;
- view fixation by alternative centering of gaze direction horizontally and vertically on the vertical and horizontal centers of edge features.
- Approach speed up to ~ 40 km/h.
A.3.6.1b Stop & Go behind another road vehicle (Prometheus 1991)
![A30image007](https://dyna-vision.de/wp-content/uploads/2021/03/A30image007-scaled.jpg)
A.3.6.2 Multiple obstacle detection and avoidance
A.3.6.2a Cruise control with multiple vehicle detection and tracking:
Monocular stereo interpretation in own and neighboring lanes (Prometheus 1994); up to 5 vehicles in front and rear hemisphere.
H.1.2 Integrated Transputer System
A.3.6.2b Wheel recognition under oblique views:
Special region-based templates for oblique views from the side (2004)
![A363_intro](https://dyna-vision.de/wp-content/uploads/2021/03/A363_intro.jpg)
A.3.6.3 Hybrid Adaptive Cruise Control (1999)
Bifocal vision complementing an industrial radar system for more robust distance keeping, VaMP with early version of EMS-vision system;
Longitudinal control fully autonomous, lateral control by human driver to keep him „in the loop“ for better attention.
![A30image009](https://dyna-vision.de/wp-content/uploads/2021/03/A30image009-scaled.jpg)
A.3.6.4 Long-lead-time studies of more demanding vision tasks – A.3.6.4a Recognition of 3-D shape and occlusion of trucks
Approximation of upper body by a rectangular box;
determine size parameters from oblique views; early hypothesis generation from partial uncovering of occlusion.
![A30image010](https://dyna-vision.de/wp-content/uploads/2021/03/A30image010.jpg)
A.3.6.4b Recognition of 3-D vehicle shape and trajectory driven
Parameterized vehicle classes from different car types to trucks,
stationary camera fixating the car driving on an oval course;
Task: Recognize vehicle type and trajectory driven.
A.3.6.4c Recognition of humans in traffic scenes
Human body modeled with 22 articulated elements;
recognize mode of motion (gait) and step frequency & amplitude.
A.3.6.4d Detection and recognition of ditches
(negative obstacles) while driving off-road on grass surface at speeds up to 10 km/h. EMS-vision including horopter-stereo with ACADIA-board (Sarnoff / PVS), saccadic perception of size of ditch for moving around it.
![A30image013](https://dyna-vision.de/wp-content/uploads/2021/03/A30image013-scaled.jpg)
A.3.7 Turning off onto an unknown crossroad
Perception of interception angle, road width and distance,
Triggered feed-forward maneuver with superimposed feedback in final phase on the crossroad.
A.3.8 LongDistanceDrive VaMP 1995 (Munich – Odense, Denmark)
Collect statistical data on performance level achieved at the end of the 2nd-generation (black / white, edge-based) dynamic vision system;
> 1600 km (~ 95%) driven autonomously (longitudinal & lateral)
![A30image004](https://dyna-vision.de/wp-content/uploads/2020/10/A30image004.jpg)
A.3.9 On-Off-Road Mission performance 2003
Final demonstrations of the capabilities developed with
H.1.3 EMS vision system
On- / off-road driving, transitions, turn-offs, avoid negative obstacles.