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Review 2020
R.1. Time line “Road vehicles with the sense of vision”, UniBwM
R.2. Some remarks to the historical background for digital real-time vision
R.3 “First‘s in real-time vision with the test vehicle VaMoRs” 1986 to 2003
R.4. Achievements with test vehicle VaMP 1994 – 2004
R.5. Time line “Air vehicles with the sense of vision” 1982 – 1997
R.6. Time line “Sense of vision in Outer Space” 1982 – 1994
R.7. Summary and conclusions
R.8. Awards received
R.9. References
I.1 Introduction – What is Dynamic Vision?
I.2 Temporal development of Dynamic Vision (a personal view)
I.3 Surveys on stages of development
Bibliography on Dynamic vision for autonomous vehicles
Disclaimer and Copyright
A. Application areas and tasks
A.1 Pole balancing
A.2 Satellite model plant
A.3 Road vehicle guidance
A.3.1 Road recognition and vehicle guidance
A.3.2 Skidpan demo to Daimler-Benz AG in 1986
A.3.3 Various types of roads
A.3.4 Lane change
A.3.5 Perception of horizontal and vertical curvature
A.3.6 Obstacle detection and avoidance
A.3.6.1 Single obstacle detection and avoidance
A.3.6.2 Multiple obstacle detection and avoidance (with transputers)
A.3.6.3 Hybrid Adaptive Cruise Control
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
A.3.6.4b Recognition of 3-D vehicle shape and trajectory driven
A.3.6.4c Recognition of humans in traffic scenes
A.3.6.4d Detection and recognition of a ditch
A.3.7 Turning off onto an unknown crossroads
A.3.8 Long distance drive VaMP 1995
A.3.9 On-Off-Road Mission performance 2003
A.4 AGV on the factory floor
A.5 Aircraft landing approach
A.6 Helicopter with the sense of vision (1991 – 1997)
A.7 Vision-guided grasping in Space
H. Hardware used
H.1 Vision systems
H.1.1 Custom-designed microprocessor systems BVVx
H.1.2 Integrated Transputer Systems (2nd – generation)
H.1.3 EMS vision system on COTS – PC hardware (3rd generation)
H.2 Plants controlled autonomously
H.2.1 Electro cart balancing a rod
H.2.2 Air cushion vehicle
H.2.3 Van VaMoRs (1985 – 2004)
H.2.4 Sedan car VaMP 1993 – 2004
H.2.5 AGV „Athene“
H.2.6 ROTEX (Vision-guided grasping in Space)
H.3 Pointing platforms
H.4 Hardware In the Loop
H.4.1 HIL-Simulation Road Vehicle Guidance
H.4.2 HIL-Simulation Air Vehicle Guidance
M. Methods developed and proven
M.1 Visual perception
M.2 Action, behavioral components
M.3 Functional system integration
M.3.1 Basic aspects for structuring in space and time
M.3.2 Structure of visual perception (in task context)
M.3.3 Structure of behavior decision using skills
M.3.4 Coarse block diagram of system integration
M.3.5 Visualization of feedback loops
M.3.6 Abstract feedback loops around „Here and Now“
T. Test and Demonstration Sites for Autonomous Systems
T.1 UniBwM Neubiberg, former airport Neubiberg
T.2 Autonomous Ground Vehicles; external sites
T.3 Flight Test Sites
X. Survey of experimental results
X.1 Achievements with VaMoRs
X.2 VaMP achievements (1993 – 2004)
X.3 Air and Space mission elements (1982 – 1997)
X.4 Table of „Firsts“ in ‚Dynamic machine vision / Visual guidance of autonomous vehicles‘
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