Abstract
This paper gives a survey on UBM’s new Expectation-based Multi-focal Saccadic Vision (EMS-Vision) system for autonomous vehicle guidance. The core element of the system is a new camera arrangement, mounted on a high bandwidth pan and tilt head (TaCC) for active gaze control. Central knowledge representation and a hierarchical system architecture allow efficient activation and control of behavioral capabilities for perception and action. The system has been implemented on commercial off-the-shelf (COTS) hardware components in both UBM test vehicles. Results from autonomous turn-off maneuvers, performed on army proving grounds, are discussed.
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Gregor, R., Lützeler, M., Pellkofer, M., Siedersberger, KH., Dickmanns, E.D. (2001). A Vision System for Autonomous Ground Vehicles with a Wide Range of Maneuvering Capabilities. In: Schiele, B., Sagerer, G. (eds) Computer Vision Systems. ICVS 2001. Lecture Notes in Computer Science, vol 2095. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-48222-9_1
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DOI: https://doi.org/10.1007/3-540-48222-9_1
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