Stefan Lüke

Real-Time Stereo Vision: Making More Out of Dynamic Programming

Dynamic Programming (DP) is a popular and efficient method for calculating disparity maps from stereo images. It allows for meeting real-time constraints even on low-cost hardware. Therefore, it is frequently used in real-world applications, although more accurate algorithms exist. We present a refined DP stereo processing algorithm which is based on a standard implementation. However it is more flexible and shows increased performance. In particular, we introduce the idea of multi-path backtracking to exploit the information gained from DP more effectively. We show how to automatically tune all parameters of our approach offline by an evolutionary algorithm. The performance was assessed on benchmark data. The number of incorrect disparities was reduced by 40 % compared to the DP reference implementation while the overall complexity increased only slightly.

PRORETA 3: An Integrated Approach to Collision Avoidance and Vehicle Automation

Zusammenfassung The article describes first results of the research project PRORETA 3 that aims at the development of an integral driver assistance system for collision avoidance and automated vehicle guidance based on a modular system architecture. For this purpose, relevant information is extracted from a dense environment model and fed into a potential field-based trajectory planner that calculates reference signals for underlying vehicle controllers. In addition, the driver is supported by a human-machine interface. Abstract Der Beitrag beschreibt erste Ergebnisse des Forschungsprojektes PRORETA 3, das die Entwicklung eines integralen Fahrerassistenzsystems zur Kollisionsvermeidung und automatisierten Fahrzeugführung auf Basis einer modularen Systemarchitektur anstrebt. Hierzu werden relevante Informationen aus einem dichten Umfeldmodell extrahiert und in einem potentialfeldbasierten Trajektorienplaner verarbeitet, der Führungsgrößen für unterlagerte Fahrzeugregler generiert. Zusätzlich unterstützt eine Mensch-Maschine-Schnittstelle den Fahrer zielgerichtet bei der Fahrzeugführung.

On-vehicle video-based parking lot recognition with fisheye optics

The search for free parking space in a crowded car park is a time-consuming and tedious task. Todays park assistance systems provide the driver with acoustic or visual feedback when approaching an obstacle or semi-autonomously navigate the vehicle into the parking lot. However, finding a free parking lot is usually left to the driver. In this paper, we address this search problem via video sensors only. This can be used as a help to the driver to quickly pass a parking deck and, more important, can be regarded as a cornerstone to fully autonomously parking vehicles.

Stauassistenz und -automation

Die Stausituation, s. Abb. 52.1, wird von jedem Autofahrer als belastend und storend empfunden: Der meist unvorhergesehene zusatzliche Zeitaufwand durch einen Stau bei einer Fahrt zur Arbeit, zum Einkaufen, zu Freunden oder in den Urlaub beinhaltet ein hohes Mas an Unzufriedenheit, Stress und Aggression.

Automated driving, technical approach with motion control architecture

Abstract Automated Driving is the key technology for greater safety, comfort and efficiency in personal transportation. Motion Control ensures that the high-level behavior planning is carried out properly even in case of failures and disturbances. Based on the flatness property a feedforward trajectory control is obtained to ensure lateral motion along prescribed trajectories. An optimal state feedback control reduces the effects of disturbances like side wind or road bank to a minimum.

Umfeldmodelle – standardisierte Schnittstellen für Assistenzsysteme

Einer der Kernbestandteile von Fahrerassistenzsystemen ist die genaue und echtzeitfahige Abbildung der Fahrzeugumgebung, das sogenannte Umfeldmodell. Es dient als Datenbasis fur die Algorithmen zur Situationsanalyse und Regelung. Hier gilt es, die enormen Datenmengen in den Griff zu bekommen und Standardschnittstellen zu schaffen. Continental zeigt Losungen auf.