Recursive 3-D road and relative ego-state recognition

Author

Dickmanns, Ernst D. ; Mysliwetz, Birger D.

Author_Institution

Dept. of Aerosp., Technol., Univ. der Bundeswehr, Neubiberg, Germany

Volume

14

Issue

2

fYear

1992

fDate

2/1/1992 12:00:00 AM

Firstpage

199

Lastpage

213

Abstract

The general problem of recognizing both horizontal and vertical road curvature parameters while driving along the road has been solved recursively. A differential geometry representation decoupled for the two curvature components has been selected. Based on the planar solution of E.D. Dickmanns and A. Zapp (1986) and its refinements, a simple spatio-temporal model of the driving process makes it possible to take both spatial and temporal constraints into account effectively. The estimation process determines nine road and vehicle state parameters recursively at 25 Hz (40 ms) using four Intel 80286 and one 386 microprocessors. Results with the test vehicle (VaMoRs), which is a 5-ton van, are given for a hilly country road

Keywords

computational geometry; computer vision; computerised navigation; computerised pattern recognition; road vehicles; Intel 386; Intel 80286; VaMoRs; computer vision; computerised navigation; differential geometry representation; ego-state recognition; pattern recognition; recursive 3D road curvature recognition; spatial constraints; spatio-temporal model; temporal constraints; Cameras; Geometry; Layout; Machine vision; Motion measurement; Recursive estimation; Road vehicles; State estimation; Time measurement; Velocity measurement;

fLanguage

English

Journal_Title

Pattern Analysis and Machine Intelligence, IEEE Transactions on

Publisher

ieee

ISSN

0162-8828

Type

jour

DOI

10.1109/34.121789

Filename

121789