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A Vision System for Autonomous Ground Vehicles with a Wide Range of Maneuvering Capabilities

R. GregorContact Information, M. Lützeler6, M. Pellkofer6, K.-H. Siedersberger6 and E. D. Dickmanns6

(6)  Institut für Systemdynamik und Flugmechanik, Universität der Bundeswehr München (UBM), D-85577 Neubiberg, Germany
Abstract
This paper gives a survey on UBM’s new Expectation-based Multi-focal Saccadic Vision (EMS-Vision) system for autonomous vehicle guidance. The core element of the system is a new camera arrangement, mounted on a high bandwidth pan and tilt head (TaCC) for active gaze control. Central knowledge representation and a hierarchical system architecture allow efficient activation and control of behavioral capabilities for perception and action. The system has been implemented on commercial off-the-shelf (COTS) hardware components in both UBM test vehicles. Results from autonomous turn-off maneuvers, performed on army proving grounds, are discussed.

Contact Information R. Gregor

URL: http://www.unibw-muenchen.de/campus/LRT/LRT13/english/index.html
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