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R.3 “First‘s in real-time vision with the test vehicle VaMoRs” 1986 to 2003


BVV2 (based on Intel 80×86, 5 MHz clock rate); cycle time: 4 video half-frames.
First fully autonomous runs (lateral & longitudinal guidance by vision) Video ‘1987-1990 Early VaMoRs results_MyDiss.mp4’ (first part). Demo of these capabilities in skidpan of Daimler-Benz AG (DBAG) Stuttgart: (Vmax = 10 m/s = 36 km/h). [D4 Kurzfassung; 79, Section 7.3.3]
Video – 1986 VaMoRs in skidpan DBAG-Stuttgart


Autonomous runs on free Autobahn: up to V = 96 km/h, [D4 Kurzfassung]


Driving on roads of low order by night & rainfall; detection and stopping in front of large stationary obstacle from 40 km/h [D4, D5 Kurzfassg; 9, 14]


Early results with VaMoRs including recognition of horizontal & vertical road curvature [D5 Kurzfassg, 16]

Video 09 – 1987-1990 Early VaMoRs results_MyDiss.mp4 (last part).


Driving on unsealed roads at speeds up to 50 km/h [D5; D12 Kurzfassung];

turning off onto previously unknown cross roads [D19 Kurzfassung]


Certification for driving fully autonomous in general public traffic on all types of roads (with at least three persons on board)

Phase VaMoRs b) Transition to ‚Transputers‘: 20 MHz clock rate, cycle time 80 ms,


Duplicate on transputer-system the capabilities developed. Video 1992 VanCarTracking LaneChange Transputers


Gaze stabilization during brake maneuver [D16 Kurzfassg; D17 Kurzfassg]

Figure Gaze Stabilization


Bifocal saccadic perception of a traffic sign at 50 km/h [D16 Kurzfassg]

Video 1994 GazeControl TrafficSign Saccade.mp4 (final part).

Phase VaMoRs c) New Dual-Pentium_4 in COTS-system; clock rate around 700 MHz


(trinocular/divergent) Stereo-range-estimation in near range [D24 Kurzfassung]


Expectation-based, Multi-focal, Saccadic (EMS-) vision achieves first real-time demonstrations with flexibly integrated capabilities for performing complex missions [32 ext.abstract; 33a) pdf; to 33e), D29 Kurzfassung]. Video ‘2001 EMS-VaMoRs Trinoc. TurnLeft.mp4’


Final demo of joint German-US-American project „AutoNav“ (flexible intelligent capabilities): Mission performance on robotic test site of UniBwM in Neubiberg; ‚On-& off-road driving‘ including avoidance of both positive and negative (lower than the driving surface) obstaclesReal-time / full-frame stereo vision by special processor system from SRI / PVT (Princeton) [34 to 46; D25 Kurzfassg; D26 Kurzfassg; D27 Kurzfassg; D28 Kurzfassg; D29 Kurzfassg; 79 Content , Chapter 14]. Video 2003 EMS-On-OffroadDriving VaMoRs.mp4


Same mission with stereo-vision on a single European-standard plug-in board into one of the PC