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Multi-camera vision-based autonomous maneuvering at road intersections



IEEE Industrial Electronics Society:
Intelligent Vehicles '94 Symposium. Proceedings
New York/N.Y.: IEEE, 1994
ISBN: 0-7803-2135-9
ISBN: 0-7803-2136-7
pp.189-194 : Abb.,Lit.
Intelligent Vehicles Symposium <1994, Paris>
Conference Paper
Fraunhofer IITB ( IOSB) ()
Autonome Fahrzeugführung; autonomous vehicle guidance; digital road map; digitale Straßenkarte; Echtzeitbildauswertung; realtime image evaluation

The combination of computer vision for lateral guidance and a digital map for navigation has been previously explored by us on various private premises for the autonomous driving of road vehicles. The experiences gathered thereby has matured to the point where experiments on public roads, in particular at highway exits and roundabouts, have become feasible and have actually been performed recently. Our experimental platform consists of a van MB 609D equipped with computer controlled steering, gas, brakes, and direction indicators as well as with trinocular videocamera setup. Image sequences recorded by one - computer selectable - camera from this trinocular setup are evaluated in parallel for lateral guidance as well as for the detection of intersections. Automatic longitudinal control was performed by evaluating the advance knowledge of road curvature from the digital road map in the navigation system Travelpilot of Robert Bosch GmbH, Stuttgart/Germany. The ability to select automatic ally that video camera which is expected to provide the optimum field of view for the actual phase of an automatic driving maneuvre turns out to provide significant advantages.