Dynamic Vision for Perception and Control of Motion - Ernst D Dickmanns Part 4 ppt

... 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 the proc- ess controlled ... left- and right-hand side as well as translational and rotational dynamics into account. [The full model with all nonlinearities and separately modeled dynamics for the...

Ngày tải lên: 10/08/2014, 02:20

... threshold value for selection of corner candi- dates; useful for adjusting the number of corner candidates. IntensGradMin Threshold value for intensity gradients to be accepted as edge candidates; ... accepted for blob building, and when all nonlinear intensity regions (corner candidates and edges) are excluded beforehand. Figure 5. 34. Image reconstruction for the pa- r...

Ngày tải lên: 10/08/2014, 02:20

... 0.25dDd N d . (5.57) Corner candidates are points for which R H  0 is valid; larger values of D yield fewer corners and vice versa. Values around D = 0. 04 to 0.06 are recommended. This condition ... 0.8 and IntGradMin = 0.02 for edge detection; q min = 0.7; tra- ceN min = 0.06 for corner detection and Lseg min = 4, VarLim = 64 for shaded blobs. Features extr...

Ngày tải lên: 10/08/2014, 02:20

... 3.2 -0 . 745 1 34 16.7 4. 47 60 -1 .72 19 .4 2 .4 0.65 -1 . 24 48 6 1.6 40 -2 .58 15.5 1.9 0.52 -1 .86 21.5 2.7 0.72 20 -5 . 14 3.91 0.5 0.13 -3 .72 5 .4 0.68 0.18 15 -6 . 84 2.2 0.275 0.073 -4 .95 3. 04 0.38 ... elementary parts of recursive estimation developed for dynamic vi- sion have been introduced. They avoid the need for storing image seq...

Ngày tải lên: 10/08/2014, 02:20

... 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 top-d...

Ngày tải lên: 10/08/2014, 02:20

... the next decade should allow tackling this 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 ... sticking to the image plane for shape description of 3 -D bodies in the real world may not be the best procedure; rigid 3 -D bodies and curves yield an in- finite numbe...

Ngày tải lên: 10/08/2014, 02:20

... y 246 8 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 ... (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 autonomous d...

Ngày tải lên: 10/08/2014, 02:20

... 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...

Ngày tải lên: 10/08/2014, 02:20

... 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...

Ngày tải lên: 10/08/2014, 02:20

... strategy for road- running Finish feed-forward maneuver; switch to standard control for roadrunning with new parame- ters of (former) CR: Select: driving speed and lateral position desired in ... their axle distance on a local scale and riding comfort (spectrum of accelerations) for high-speed driving. The former criteria are of special interest for off-road drivi...

Ngày tải lên: 10/08/2014, 02:20