• 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

• S. 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‘