Page 13 - Dynamic Vision for Perception and Control of Motion
P. 13
xiv Contents
9.3.3 Dynamics of Pitch Movements: Damped Oscillations............... 271
9.3.4 Dynamic Model for Changes in Lane Width ............................. 273
9.3.5 Measurement Model Including Pitch Angle, Width Changes.... 275
9.4 Experimental Results............................................................................. 275
9.4.1 Simulations with Ground Truth Available................................. 276
9.4.2 Evaluation of Video Scenes ....................................................... 278
9.5 High-precision Visual Perception.......................................................... 290
9.5.1 Edge Feature Extraction to Subpixel Accuracy for Tracking..... 290
9.5.2 Handling the Aperture Problem in Edge Perception .................. 292
10 Perception of Crossroads...........................................297
10.1 General Introduction.............................................................................. 297
10.1.1 Geometry of Crossings and Types of Vision
Systems Required....................................................................... 298
10.1.2 Phases of Crossroad Perception and Turnoff ............................. 299
10.1.3 Hardware Bases and Real-world Effects.................................... 301
10.2 Theoretical Background ........................................................................ 304
10.2.1 Motion Control and Trajectories................................................ 304
10.2.2 Gaze Control for Efficient Perception........................................ 310
10.2.3 Models for Recursive Estimation............................................... 313
10.3 System Integration and Realization....................................................... 323
10.3.1 System Structure ........................................................................ 324
10.3.2 Modes of Operation.................................................................... 325
10.4 Experimental Results............................................................................. 325
10.4.1 Turnoff to the Right ................................................................... 326
10.4.2 Turnoff to the Left...................................................................... 328
10.5 Outlook.................................................................................................. 329
11 Perception of Obstacles and Other Vehicles ............331
11.1 Introduction to Detecting and Tracking Obstacles ................................ 331
11.1.1 What Kinds of Objects Are Obstacles for Road Vehicles?........ 332
