Dynamic Vision for Perception and Control of Motion - Ernst D Dickmanns Part 7 pptx
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...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 3 docx
... 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...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 4 ppt
... 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...
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 ... 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...
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; ... (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...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 8 ppt
... 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...
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 9 pot
... (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...
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 ... 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...
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
...
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...
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