Omnidirectional Stereo Vision For Autonomous Vehicles

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Omnidirectional Stereo Vision For Autonomous Vehicles

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Author : Schoenbein, Miriam
language : en
Publisher: KIT Scientific Publishing
Release Date : 2015-04-22

Omnidirectional Stereo Vision For Autonomous Vehicles written by Schoenbein, Miriam and has been published by KIT Scientific Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-04-22 with Technology (General) categories.

Environment perception with cameras is an important requirement for many applications for autonomous vehicles and robots. This work presents a stereoscopic omnidirectional camera system for autonomous vehicles which resolves the problem of a limited field of view and provides a 360° panoramic view of the environment. We present a new projection model for these cameras and show that the camera setup overcomes major drawbacks of traditional perspective cameras in many applications.

Omnidirectional Stereo Vision For Autonomous Vehicles

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Author : Miriam Schönbein
language : en
Publisher:
Release Date : 2020-10-09

Omnidirectional Stereo Vision For Autonomous Vehicles written by Miriam Schönbein and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-10-09 with Technology & Engineering categories.

Environment perception with cameras is an important requirement for many applications for autonomous vehicles and robots. This work presents a stereoscopic omnidirectional camera system for autonomous vehicles which resolves the problem of a limited field of view and provides a 360° panoramic view of the environment. We present a new projection model for these cameras and show that the camera setup overcomes major drawbacks of traditional perspective cameras in many applications. This work was published by Saint Philip Street Press pursuant to a Creative Commons license permitting commercial use. All rights not granted by the work's license are retained by the author or authors.

Motion Planning For Autonomous Vehicles In Partially Observable Environments

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Author : Taş, Ömer Şahin
language : en
Publisher: KIT Scientific Publishing
Release Date : 2023-10-23

Motion Planning For Autonomous Vehicles In Partially Observable Environments written by Taş, Ömer Şahin and has been published by KIT Scientific Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-10-23 with categories.

This work develops a motion planner that compensates the deficiencies from perception modules by exploiting the reaction capabilities of a vehicle. The work analyzes present uncertainties and defines driving objectives together with constraints that ensure safety. The resulting problem is solved in real-time, in two distinct ways: first, with nonlinear optimization, and secondly, by framing it as a partially observable Markov decision process and approximating the solution with sampling.

Omnidirectional Vision

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Author : Pascal Vasseur
language : en
Publisher: John Wiley & Sons
Release Date : 2023-12-12

Omnidirectional Vision written by Pascal Vasseur and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-12-12 with Computers categories.

Omnidirectional cameras, vision sensors that can capture 360° images, have in recent years had growing success in computer vision, robotics and the entertainment industry. In fact, modern omnidirectional cameras are compact, lightweight and inexpensive, and are thus being integrated in an increasing number of robotic platforms and consumer devices. However, the special format of output data requires tools that are appropriate for camera calibration, signal analysis and image interpretation. This book is divided into six chapters written by world-renowned scholars. In a rigorous yet accessible way, the mathematical foundation of omnidirectional vision is presented, from image geometry and camera calibration to image processing for central and non-central panoramic systems. Special emphasis is given to fisheye cameras and catadioptric systems, which combine mirrors with lenses. The main applications of omnidirectional vision, including 3D scene reconstruction and robot localization and navigation, are also surveyed. Finally, the recent trend towards AI-infused methods (deep learning architectures) and other emerging research directions are discussed.

Probabilistic Motion Planning For Automated Vehicles

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Author : Naumann, Maximilian
language : en
Publisher: KIT Scientific Publishing
Release Date : 2021-02-25

Probabilistic Motion Planning For Automated Vehicles written by Naumann, Maximilian and has been published by KIT Scientific Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-02-25 with Technology & Engineering categories.

In motion planning for automated vehicles, a thorough uncertainty consideration is crucial to facilitate safe and convenient driving behavior. This work presents three motion planning approaches which are targeted towards the predominant uncertainties in different scenarios, along with an extended safety verification framework. The approaches consider uncertainties from imperfect perception, occlusions and limited sensor range, and also those in the behavior of other traffic participants.

Belief State Planning For Autonomous Driving Planning With Interaction Uncertain Prediction And Uncertain Perception

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Author : Hubmann, Constantin
language : en
Publisher: KIT Scientific Publishing
Release Date : 2021-09-13

Belief State Planning For Autonomous Driving Planning With Interaction Uncertain Prediction And Uncertain Perception written by Hubmann, Constantin and has been published by KIT Scientific Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-09-13 with Technology & Engineering categories.

This work presents a behavior planning algorithm for automated driving in urban environments with an uncertain and dynamic nature. The algorithm allows to consider the prediction uncertainty (e.g. different intentions), perception uncertainty (e.g. occlusions) as well as the uncertain interactive behavior of the other agents explicitly. Simulating the most likely future scenarios allows to find an optimal policy online that enables non-conservative planning under uncertainty.

Self Calibration Of Multi Camera Systems For Vehicle Surround Sensing

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Author : Knorr, Moritz
language : en
Publisher: KIT Scientific Publishing
Release Date : 2018-12-19

Self Calibration Of Multi Camera Systems For Vehicle Surround Sensing written by Knorr, Moritz and has been published by KIT Scientific Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-12-19 with Calibration categories.

Multi-camera systems are being deployed in a variety of vehicles and mobile robots today. To eliminate the need for cost and labor intensive maintenance and calibration, continuous self-calibration is highly desirable. In this book we present such an approach for self-calibration of multi-Camera systems for vehicle surround sensing. In an extensive evaluation we assess our algorithm quantitatively using real-world data.

Outdoor And Large Scale Real World Scene Analysis

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Author : Frank Dellaert
language : en
Publisher: Springer
Release Date : 2012-09-22

Outdoor And Large Scale Real World Scene Analysis written by Frank Dellaert and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-09-22 with Computers categories.

This book constitutes the thoroughly refereed post-proceedings of the 15th International Workshop on Theoretic Foundations of Computer Vision, held as a Dagstuhl Seminar in Dagstuhl Castle, Germany, in June/July 2011. The 19 revised full papers presented were carefully reviewed and selected after a blind peer-review process. The topic of this Workshop was Outdoor and Large-Scale Real-World Scene Analysis, which covers all aspects, applications and open problems regarding the performance or design of computer vision algorithms capable of working in outdoor setups and/or large-scale environments. Developing these methods is important for driver assistance, city modeling and reconstruction, virtual tourism, telepresence, and motion capture.

Lane Precise Localization With Production Vehicle Sensors And Application To Augmented Reality Navigation

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Author : Rabe, Johannes
language : en
Publisher: KIT Scientific Publishing
Release Date : 2019-01-10

Lane Precise Localization With Production Vehicle Sensors And Application To Augmented Reality Navigation written by Rabe, Johannes and has been published by KIT Scientific Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-01-10 with Augmented reality categories.

This works describes an approach to lane-precise localization on current digital maps. A particle filter fuses data from production vehicle sensors, such as GPS, radar, and camera. Performance evaluations on more than 200 km of data show that the proposed algorithm can reliably determine the current lane. Furthermore, a possible architecture for an intuitive route guidance system based on Augmented Reality is proposed together with a lane-change recommendation for unclear situations.

Compact Environment Modelling From Unconstrained Camera Platforms

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Author : Schwarze, Tobias
language : en
Publisher: KIT Scientific Publishing
Release Date : 2018-09-25

Compact Environment Modelling From Unconstrained Camera Platforms written by Schwarze, Tobias and has been published by KIT Scientific Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-09-25 with Cameras categories.

Mobile robotic systems need to perceive their surroundings in order to act independently. In this work a perception framework is developed which interprets the data of a binocular camera in order to transform it into a compact, expressive model of the environment. This model enables a mobile system to move in a targeted way and interact with its surroundings. It is shown how the developed methods also provide a solid basis for technical assistive aids for visually impaired people.