Hybrid adaptive control of an active multi-focal vision system

Unterholzner, Alois; Wuensche, Hans-Joachim

doi:10.1109/ivs.2010.5548136

Cited by 13 publications

(4 citation statements)

References 9 publications

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“…• A movable camera platform [26] daylight cameras provide 5-10 fps in lowlight conditions because of the increased exposure time. In contrast to the daylight cameras, the lowlight camera with 1280 x 960 pixels and a dynamic range of 85 dB runs continuously with 10 fps.…”

Section: Resultsmentioning

confidence: 99%

Autonomous convoy driving by night: The vehicle tracking system

Fries

Wuensche

2015

2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

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Previous publications of our institute describe a robust vehicle tracking system for daylight conditions. This paper presents an improved vehicle tracking system which is able to detect and track the convoy leader also by twilight and night. The primary sensor equipment consists of a daytime camera, a LiDAR and an inertial navigation system. An expansion with a thermal and a lowlight camera was necessary to be robust against any illumination conditions. The system is capable of estimating the relative 3D position and orientation, the velocity and the steering angle of a convoy leader precisely in real-time. This makes it possible to follow the convoy leader's track. Another novelty is coupling a Kalman filter with a particle filter for higher stability and accuracy in vehicle tracking. The tracking system shows excellent functionality while driving more than 50 km fully autonomously in urban-and unstructured environments at night.978-1-4799-8757-3/15/$31.00 ©2015 IEEE

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Section: Resultsmentioning

confidence: 99%

Autonomous convoy driving by night: The vehicle tracking system

Fries

Wuensche

2015

2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

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“…The data was collected using the autonomous vehicle MuCAR-3 [33]. Our vision system is mounted on a multifocal active/reactive camera platform called MarVEye [34]. A camera sensor provides color images at 2.0 MP resolution.…”

Section: A Data Specificationsmentioning

confidence: 99%

A Fine-Grained Dataset and its Efficient Semantic Segmentation for Unstructured Driving Scenarios

Metzger¹,

Mortimer²,

Wuensche³

2021

Preprint

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Research in autonomous driving for unstructured environments suffers from a lack of semantically labeled datasets compared to its urban counterpart. Urban and unstructured outdoor environments are challenging due to the varying lighting and weather conditions during a day and across seasons. In this paper, we introduce TAS500, a novel semantic segmentation dataset for autonomous driving in unstructured environments. TAS500 offers fine-grained vegetation and terrain classes to learn drivable surfaces and natural obstacles in outdoor scenes effectively. We evaluate the performance of modern semantic segmentation models with an additional focus on their efficiency. Our experiments demonstrate the advantages of fine-grained semantic classes to improve the overall prediction accuracy, especially along the class boundaries. The dataset and pretrained model are available at mucar3.de/icpr2020-tas500.

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“…The multi-focal vision device is mainly applied in humanoid robots [10] and autonomous vehicles [11] [12]. The multi-focal vision system was also applied to make traffic sign recognition more reliable [13].…”

Section: Dual-focal Active Camera Systemmentioning

confidence: 99%

“…This problem occurs with the vibration of the vehicle. The vibration is a complex motion, which cannot be modeled using equation (12) and (13). In addition, the system detected some false positive candidates, as shown in image 3, 4 of Fig.…”

Section: B Performance Of Tracking and Mirror Controllingmentioning

confidence: 99%

Traffic sign detection in dual-focal active camera system

Yendo

Tehrani

et al. 2011

2011 IEEE Intelligent Vehicles Symposium (IV)

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Traffic sign recognition systems can be applied to assist drivers and improve the traffic safety. High resolution image of traffic sign can improve the recognition result, especially for some complex traffic signs. In this paper, a dual-focal active camera system is proposed to obtain a high resolution image of traffic sign. In the system an active telephoto camera is equipped as an assistant of a wide angle camera. To make the proposed system correctly capture a high resolution image of traffic sign, the shape, color features and the relationship between continuous frames are used together in the traffic sign detection. The experiment results demonstrate that the proposed method makes the dual-focal active camera system effectively work when the system is installed on an automobile and moves on the road.

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Hybrid adaptive control of an active multi-focal vision system

Cited by 13 publications

References 9 publications

Autonomous convoy driving by night: The vehicle tracking system

Autonomous convoy driving by night: The vehicle tracking system

A Fine-Grained Dataset and its Efficient Semantic Segmentation for Unstructured Driving Scenarios

Traffic sign detection in dual-focal active camera system

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