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

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 Uff 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 wheel groups and the body ... defined as “heading change over arc length” (d /dl), this simple (idealized) model neglecting tire softness and drift angles yields a direct in-dication of heading changes due to steering control: ...

Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 6 ppt

... 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-rameter set (22.22) and ... d < s < + d d sC0= (m +d – m d )/(2 d) C1= 1.5·(m -d + m +d ) /d 2Ȍ d = arctan(m d ) § m d Ȍ -d d 0yxȌ0= í 0.25·(m d + m +d )0 5 Extraction of Visual Features 1 54 and...

Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 7 pptx

... 0.25dDd N d . (5.57)Corner candidates are points for which RH 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; qmin = 0.7; tra-ceNmin = 0.06 for corner detection and Lsegmin = 4, VarLim = 64 for shaded blobs. Features extracted were 130 corner candidates, ... time3 D= >2 D mappingdis-cretiza-tionContinuousprocessesVi d eo - technologyViewing direction control +2 - 4 4 - - D approach to dynamic machine vision: D approach to dynamic machine vision: Model-based recognition ; Analysis...

Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 8 ppt

... 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 sequences by combining 3 -D shape models and 3 -D motion models of objects ... 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·C0h into the yaw equation, and of the first three...

Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 3 docx

... ground plane3 -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-down the side view and the ... arrangements. For roads with even smaller radii of curvature, look-ahead ranges decrease rapidly (see circles 50 and 10 m radius on lower right in Figure 3 .4) . 2 .4 Spatiotemporal Embedding and First-order...

Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 5 potx

... 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 number of 2 -D views by perspective ... Traffic Participant Elaborate models for the motion ca-pabilities of human bodies are avail-able in different disciplines of physi-ology, sports, and computer animation [Alexander 19 84; Bruderlin,...

Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 9 pot

... 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 driving on unmarked campus–road: ... interpretation aspects of roads and how to get started. For dynamic scene understanding based on edge and stripe features, the spatial distribution of recognizable features has to be combined with translational...

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 the lower feed-forward ... basic understanding of recursive estimation for vision has been developed. 9.1.1 Discrete Models The dynamic models described in previous sections and summarized in Table 9.1 (page 2 54) have...

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 pitch and feedback ... Background Before the integrated performance of the maneuver can be discussed, performance elements for motion control of the vehicle (Section 10.2.1), for gaze control (Sec-tion 10.2.2), and for...

Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 12 potx

... strategy for road-runningFinish 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 driving and are not of interest ... part more robustly detectedRoundedrectangle, lower part more robustly detectedRoundedrectangle, lower part more robustly detectedRoundedrectangle, lower part more robustly detectedand...

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