Road recognition for a tracked vehicle

Michael Luetzeler; Stefan Baten

doi:10.1117/12.389340

23 June 2000 Road recognition for a tracked vehicle

Michael Luetzeler, Stefan Baten

Proceedings Volume 4023, Enhanced and Synthetic Vision 2000; (2000) https://doi.org/10.1117/12.389340
Event: AeroSense 2000, 2000, Orlando, FL, United States

Abstract

The well known road detection and tracking algorithm (RDT), developed at the Universitat der Bundeswehy Muchen (UBM), has been adapted for following unpaved paths and contour lines. The vision system consists of a color CCD-camera mounted on UBM's high bandwidth pan-tilt head, dubbed TACC. The monochrome and color signals from the camera are processed in parallel. This vision system is used for lateral control of the Primus-C experimental vehicle Digitized Wiesel 2, an air-transportable tracked tank. Image processing simultaneously exploits the results from edge-based feature extraction and area-based segmentation. Feature matching is facilitated by exploiting the photometric homogeneity along contours. A flexible algorithm for active viewing direction control was implemented. The two axis camera carrier (TACC) is controlled by fixating on a point moving on the ceterline of the road segment. A semi-autonomous initialization mode is integrated using image points on the contour to be followed, specific by an operator. Autonomous driving speeds up to 50km/h on unpaved roads was demonstrated publicly in June 1999.

Citation Download Citation

Michael Luetzeler and Stefan Baten "Road recognition for a tracked vehicle", Proc. SPIE 4023, Enhanced and Synthetic Vision 2000, (23 June 2000); https://doi.org/10.1117/12.389340

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available