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 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 ... brightness of a stereo system with corresponding his- tograms of the intensity: (a) left image, (b) right-hand-side image, and (c) right-hand image adapted to the intensi...

Ngày tải lên: 10/08/2014, 02:20

... variety of subjects is discussed in Chapter 3. 2.2.5.3 Basic Dynamic Model: Decoupled Newtonian Motion The most simple and yet realistic dynamic model for the motion of a rigid body under external ... 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...

Ngày tải lên: 10/08/2014, 02:20

... 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 ... 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 g...

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 ... arc-length is termed curvature and is the basis for differential geometry [Spivak 1 970 ]. The differential formulation of shapes is coordinate-free and does not depe...

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; ... (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 horizonta...

Ngày tải lên: 10/08/2014, 02:20

... 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·C 0h into the yaw...

Ngày tải lên: 10/08/2014, 02:20

... (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: ... Initialization in Dynamic Scene Understanding perceiving individual simultaneously) because the nature of the mind demands that each component be considered as part of...

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 ... Model Including Pitch Angle and Width Changes The dependence of look-ahead range L on pitch angle ș K (Equation 9.20) and the dependence of both curvature and lane (or roa...

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