Dynamic Vision for Perception and Control of MotionSpringer Science & Business Media, 2007/06/02 - 474 ページ The application of machine vision to autonomous vehicles is an increasingly important area of research with exciting applications in industry, defense, and transportation likely in coming decades. Dynamic Vision for Perception and Control of Road Vehicles has been written by the world's leading expert on autonomous road-following vehicles and brings together twenty years of innovation in the field by Professor Dickmanns and his colleagues at the University of the German Federal Armed Forces in Munich. The book uniquely details an approach to real-time machine vision for the understanding of dynamic scenes, viewed from a moving platform that begins with spatio-temporal representations of motion for hypothesized objects whose parameters are adjusted by well-known prediction error feedback and recursive estimation techniques. A coherent and up-to-date coverage of the subject matter is presented, with the machine vision and control aspects detailed, along with reports on the mission performance of the first vehicles using these innovative techniques built at Munich. Pointers to the future development and likely applications of this hugely important field of research are presented. Dynamic Vision for Perception and Control of Road Vehicles will be a key reference for technologists working in autonomous vehicles and mobile robotics in general who wish to access the leading research in this field, as well as researchers and students working in machine vision and dynamic control interested in one of the most interesting and promising applications of these techniques. |
目次
1 | |
Image Sequences the World | 21 |
Subjects and Subject Classes | 59 |
Application Domains Missions and Situations 111 4 1 Structuring of Application Domains | 111 |
Extraction of Visual Features | 123 |
Recursive State Estimation | 183 |
Beginnings of Spatiotemporal Road | 205 |
Initialization in Dynamic Scene Understanding | 227 |
Conclusions and Outlook | 439 |
Contributions to Ontology for Ground Vehicles | 443 |
Vehicles | 444 |
Form Appearance and Function of Humans | 446 |
Appendix B Lateral dynamics | 449 |
Transfer Functions and Time Responses to an Idealized Doublet in Fifthorder Lateral Dynamics | 450 |
Appendix C | 453 |
Extension of Segment by One Data Point | 456 |
Recursive Estimation of Road Parameters | 253 |
Perception of Crossroads | 297 |
Perception of Obstacles and Other Vehicles 331 11 1 Introduction to Detecting and Tracking Obstacles | 331 |
Sensor Requirements for Road Scenes | 377 |
Integrated Knowledge Representations | 395 |
Mission Performance Experimental Results | 413 |
Stripe Segmentation with Linear Homogeneity Model | 457 |
Dropping Initial Data Point | 458 |
461 | |
473 | |