Robotics Research pp 421-430 | Cite as
An Expectation-based, Multi-focal, Saccadic (EMS) Vision System for Vehicle Guidance
Conference paper
Abstract
The ‘MarVEye’ camera configuration realized with three to four conventional miniature CCD-TV-cameras mounted fix relative to each other on a high bandwidth pan-and-tilt platform is discussed. A saccadic type of vision with intermittent phases of fast saccades and smooth pursuit does complicate image sequence interpretation; however, with explicit spatio-temporal representations available in the 4-D approach this can be handled in a straightforward way. The newly developed machine vision system based on COTSPC-hardware and object-oriented programming is presented. Applications in the field of road vehicle guidance are discussed.
Keywords
Smooth Pursuit Vehicle Guidance Angular Rate Sensor Perspective Mapping Saccadic Type
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