Page 15 - Dynamic Vision for Perception and Control of Motion
P. 15
xvi Contents
13 Integrated Knowledge Representations
for Dynamic Vision......................................................395
13.1 Generic Object/Subject Classes.............................................................399
13.2 The Scene Tree .....................................................................................401
13.3 Total Network of Behavioral Capabilities.............................................403
13.4 Task To Be Performed, Mission Decomposition ..................................405
13.5 Situations and Adequate Behavior Decision .........................................407
13.6 Performance Criteria and Monitoring Actual Behavior ........................409
13.7 Visualization of Hardware/Software Integration...................................411
14 Mission Performance, Experimental Results ........... 413
14.1 Situational Aspects for Subtasks ..........................................................414
14.1.1 Initialization ...............................................................................414
14.1.2 Classes of Capabilities ...............................................................416
14.2 Applying Decision Rules Based on Behavioral Capabilities.................420
14.3 Decision Levels and Competencies, Coordination Challenges .............421
14.4 Control Flow in Object-oriented Programming.....................................422
14.5 Hardware Realization of Third-generation EMS vision........................426
14.6 Experimental Results of Mission Performance .....................................427
14.6.1 Observing a Maneuver of Another Car......................................427
14.6.2 Mode Transitions Including Harsh Braking...............................429
14.6.3 Multisensor Adaptive Cruise Control.........................................431
14.6.4 Lane Changes with Preceding Checks .......................................432
14.6.5 Turning Off on Network of Minor Unsealed Roads ..................434
14.6.6 On- and Off-road Demonstration with
Complex Mission Elements ...................................................... 437
15 Conclusions and Outlook ...........................................439
