Omnidirectional Stereo Vision for Autonomous Vehicles

Omnidirectional Stereo Vision for Autonomous Vehicles
Title Omnidirectional Stereo Vision for Autonomous Vehicles PDF eBook
Author Schoenbein, Miriam
Publisher KIT Scientific Publishing
Pages 156
Release 2015-04-22
Genre Technology (General)
ISBN 3731503573

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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

Omnidirectional Stereo Vision for Autonomous Vehicles
Title Omnidirectional Stereo Vision for Autonomous Vehicles PDF eBook
Author Miriam Schönbein
Publisher
Pages 146
Release 2020-10-09
Genre Technology & Engineering
ISBN 9781013279546

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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

Motion Planning for Autonomous Vehicles in Partially Observable Environments
Title Motion Planning for Autonomous Vehicles in Partially Observable Environments PDF eBook
Author Taş, Ömer Şahin
Publisher KIT Scientific Publishing
Pages 222
Release 2023-10-23
Genre
ISBN 3731512998

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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.

Self-Calibration of Multi-Camera Systems for Vehicle Surround Sensing

Self-Calibration of Multi-Camera Systems for Vehicle Surround Sensing
Title Self-Calibration of Multi-Camera Systems for Vehicle Surround Sensing PDF eBook
Author Knorr, Moritz
Publisher KIT Scientific Publishing
Pages 166
Release 2018-12-19
Genre Calibration
ISBN 373150765X

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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.

Belief State Planning for Autonomous Driving: Planning with Interaction, Uncertain Prediction and Uncertain Perception

Belief State Planning for Autonomous Driving: Planning with Interaction, Uncertain Prediction and Uncertain Perception
Title Belief State Planning for Autonomous Driving: Planning with Interaction, Uncertain Prediction and Uncertain Perception PDF eBook
Author Hubmann, Constantin
Publisher KIT Scientific Publishing
Pages 178
Release 2021-09-13
Genre Technology & Engineering
ISBN 3731510391

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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.

Probabilistic Motion Planning for Automated Vehicles

Probabilistic Motion Planning for Automated Vehicles
Title Probabilistic Motion Planning for Automated Vehicles PDF eBook
Author Naumann, Maximilian
Publisher KIT Scientific Publishing
Pages 192
Release 2021-02-25
Genre Technology & Engineering
ISBN 3731510707

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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.

Compact Environment Modelling from Unconstrained Camera Platforms

Compact Environment Modelling from Unconstrained Camera Platforms
Title Compact Environment Modelling from Unconstrained Camera Platforms PDF eBook
Author Schwarze, Tobias
Publisher KIT Scientific Publishing
Pages 158
Release 2018-09-25
Genre Cameras
ISBN 373150801X

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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.