Probabilistic Models for 3D Urban Scene Understanding from Movable Platforms
Probabilistic Models for 3D Urban Scene Understanding from Movable Platforms

Author: Andreas Geiger

Publisher: KIT Scientific Publishing

Published: 2014-07-29

Total Pages: 196

ISBN-13: 3731500817

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This work is a contribution to understanding multi-object traffic scenes from video sequences. All data is provided by a camera system which is mounted on top of the autonomous driving platform AnnieWAY. The proposed probabilistic generative model reasons jointly about the 3D scene layout as well as the 3D location and orientation of objects in the scene. In particular, the scene topology, geometry as well as traffic activities are inferred from short video sequences.

Probabilistic Maneuver Recognition in Traffic Scenarios
Probabilistic Maneuver Recognition in Traffic Scenarios

Author: Firl, Jonas

Publisher: KIT Scientific Publishing

Published: 2015-01-07

Total Pages: 176

ISBN-13: 3731502879

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In this work an approach is presented to model and recognize traffic maneuvers in terms of interactions between different traffic participants on extra urban roads. Results of the recognition concept are presented and evaluated using different sensor setups and its benefit is outlined by an integration into a software framework in the field of Car-to-Car (C2C) communications. Furthermore, recognition results are used in this work to robustly predict vehicle's trajectories while driving dynamic.

Compact Environment Modelling from Unconstrained Camera Platforms
Compact Environment Modelling from Unconstrained Camera Platforms

Author: Schwarze, Tobias

Publisher: KIT Scientific Publishing

Published: 2018-09-25

Total Pages: 158

ISBN-13: 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.

Probabilistic Motion Planning for Automated Vehicles
Probabilistic Motion Planning for Automated Vehicles

Author: Naumann, Maximilian

Publisher: KIT Scientific Publishing

Published: 2021-02-25

Total Pages: 192

ISBN-13: 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.

Omnidirectional Stereo Vision for Autonomous Vehicles
Omnidirectional Stereo Vision for Autonomous Vehicles

Author: Schoenbein, Miriam

Publisher: KIT Scientific Publishing

Published: 2015-04-22

Total Pages: 156

ISBN-13: 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.

Mobile laser scanning based determination of railway network topology and branching direction on turnouts
Mobile laser scanning based determination of railway network topology and branching direction on turnouts

Author: Stein, Denis

Publisher: KIT Scientific Publishing

Published: 2018-06-26

Total Pages: 168

ISBN-13: 3731507439

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GNSS is often inaccurate and satellite signals are not always available, which results in ambiguous situations. In order to reduce their negative effects on train-borne localization, this work proposes an approach for the detection of tracks, turnouts, and branching directions solely from 2d lidar sensor measurements. The experimental evaluation shows highly correct and complete results. In summary, these detections are sufficient to reduce ambiguity problems in train-borne localization.

Mapping and Localization in Urban Environments Using Cameras
Mapping and Localization in Urban Environments Using Cameras

Author: Henning Lategahn

Publisher: KIT Scientific Publishing

Published: 2014

Total Pages: 146

ISBN-13: 373150135X

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In this work we present a system to fully automatically create a highly accurate visual feature map from image data acquired from within a moving vehicle. Moreover, a system for high precision self localization is presented. Furthermore, we present a method to automatically learn a visual descriptor. The map relative self localization is centimeter accurate and allows autonomous driving.

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

Author: Knorr, Moritz

Publisher: KIT Scientific Publishing

Published: 2018-12-19

Total Pages: 166

ISBN-13: 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.

Motion Planning for Autonomous Vehicles in Partially Observable Environments
Motion Planning for Autonomous Vehicles in Partially Observable Environments

Author: Taş, Ömer Şahin

Publisher: KIT Scientific Publishing

Published: 2023-10-23

Total Pages: 222

ISBN-13: 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.

Lane-Precise Localization with Production Vehicle Sensors and Application to Augmented Reality Navigation
Lane-Precise Localization with Production Vehicle Sensors and Application to Augmented Reality Navigation

Author: Rabe, Johannes

Publisher: KIT Scientific Publishing

Published: 2019-01-10

Total Pages: 196

ISBN-13: 3731508540

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This works describes an approach to lane-precise localization on current digital maps. A particle filter fuses data from production vehicle sensors, such as GPS, radar, and camera. Performance evaluations on more than 200 km of data show that the proposed algorithm can reliably determine the current lane. Furthermore, a possible architecture for an intuitive route guidance system based on Augmented Reality is proposed together with a lane-change recommendation for unclear situations.