Dynamic Vision for Perception and Control of Motion - Ernst D Dickmanns Part 3 docx
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 3 docx
... ground plane
3 -D models with different degrees of detail: Just for tracking and relative state
estimation of cars, taking one of the vertical edges of the lower body and the lower
bound of the ...
avoiding the idealized sharp 3 -D edges and corners of the generic model.
Aspect graphs for simplifying models and visibility of features: In Figure 2.15,
the t...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 4 ppt
... Figure 3. 7). This has led to the classes of feed-forward and feedback control in
systems dynamics and control engineering:
1. Feed-forward components
U
ff
derived from a deeper understanding of ... that all control time histories for standard maneuvers and all
feedback laws for regulation of desired states have to be decided in detail. This is
the usual task of...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 5 potx
... task for better and more robust scene under-
standing.
5.1.2 Fields of View, Multi-focal Vision, and Scales
In dealing with real-world tasks of surveillance and motion control very often cov-
erage ... precondition for this performance level. Tables 3. 1 and 3. 3 list the
most essential capabilities and behavioral modes needed for road traffic partici-
pants. Bas...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 6 ppt
... (corner
candidates and edges) are excluded beforehand.
Figure 5 .34 . Image reconstruction for the pa-
rameter set (22.22) and vertical search direc-
tion, compressed horizontally 2:1 for display ... themselves and will be detected independently of the blob analysis,
usually (see lower bar in the figure with characterization of edges as DH for dark-
to-bright and HD for...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 7 pptx
... predictions
extended predictions
object n
+
-
Predic
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fea-
tures
S
t
a
t
e
-
r
e
c
o
g
n
i
t
i
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Object 1
Subject
(self
)
Real world
in
3 -D space
and time
3
D=
>
2
D
m
a
p
p
i
n
g
dis-
cretiza-
tion
Continuous
processes
V
i
d
e
o
-
t
e
c
h
n
o
l
o
g
y
Viewing ... brightness of a stereo system with corresponding his-
tograms of the intensity: (a) left im...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 8 ppt
... ground
resolut.
8 pel/°
30 pel/°
8 pel/°
30 pel/°
L
o
in m
pt axis
ș in
degrees
dL /d
m/deg
dL/dpel
m/pixel
dL/dpel
m/pixel
ș in
degrees
dL /d
m/deg
dL/dpel
m/pixel
dL/dpel
m/pixel
100 -1 . 03 ... estimation (upper left) and for road perception
(lower right) have been coded as separate fourth-order and third-order models with
cross-feeds of V·C
0h
into the yaw equation...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 9 pot
... Initialization in Dynamic Scene Understanding
perceiving individual simultaneously) because the nature of the mind demands that
each component be considered as part of a system of dynamic relationships ... (Figure 5.1 8d) corresponds di-
rectly to road curvature with a bit of a lead due to the look-ahead range and feed-
forward control.
Figure 7.18. Test results in autonom...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 10 potx
... 1. In addition, this avoids the need for se-
lecting one out of three solutions of the third-order equation).
Beyond a certain combination of look-ahead distance and negative (downward)
vertical ... alterna-
tive would be to resort to the very simple dynamic model of third order in Figure
7.3a and determine the idealized value for infinite tire stiffness, as indicated in...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 11 potx
... discussed in de-
tail here.
10.2.2.1 Attention-controlled Search for Crossroads Detection
In phase 1, additional windows for detection of the crossroad are positioned to that
side of the road to ... spine of this road; how-
ever, the vehicle turns underneath the camera.
Here, only the basic considerations for gaze control have been discussed. Feed-
forward control for pi...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 12 potx
... real vehicle; the values finally adopted for VaMoRs were ı
l
= 0.5, ı
b
=
0.05 and ı
ȥ
= 0.02.
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ijı ...
strategy for road-
running
Finish feed-forward
maneuver; switch
to standard control
for roadrunning
with new parame-
ters of (former) CR:
Select: driving
speed...
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