Dynamic Vision for Perception and Control of Motion - Ernst D Dickmanns Part 8 ppt
Dynamic Vision for Perception and Control of Motion - Ernst D. Dickmanns Part 8 ppt
... 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 ... 1 .8 m = 1.3 m above 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...
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 ... combined tire forces from both the left- and right-hand side as well
as translational and rotational dynamics into account. [The full model with all
nonlinearities and se...
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 7 pptx
... 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 intensity distribution of the left-hand ... satellite docking
[Wuensche 1 986 ], road vehicle guidance, and
on-board autonomous landing approaches of aircraft by machine vision. It was re-
alized in the mid-1 980 s t...
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 ... = 1/Į for ac-
celeration a). This general third-order model for each degree of freedom may be
written in standard state space form
[BarShalom, Fortmann 1 988 ]
01 0 0...
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 ... 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 nu...
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 ... cm (Figure 5.18c). The steering angle (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.
Fi...
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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