Tham khảo tài liệu 'dynamic vision for perception and control of motion - ernst d. dickmanns part 11', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Experimental Results 285 curvature of 5 1 m corresponds to a radius of curvature of about 14 km. This means that for 100 m driven the slope change is . Figure . Precise estimation of vertical curvature with simultaneous pitch estimation on underpass of a bridge across Autobahn A8 Munich - Salzburg north of Autobahn crossing Munich-south Top left Bridge and bottom of underpass can be recognized top center vehicles shortly before underpass shadow of bridge is highly visible. Top right and bottom left Cusp after underpass is approached bottom center leaving the underpass area. Bottom right Estimated vertical curvature over distance driven The peak value corresponds to a half degree change in slope over 100 m. Of course this information has been collected over a distance driven of several hundred meters this shows that motion stereo with the 4-D approach in this case cannot be beaten by any kind of multiocular stereo. Note however that the stereo base length a somewhat strange term in this connection is measured by the odometer with rather high precision. Without the smoothing effects of the EKF double integration over distance driven this would not be achievable. The search windows for edge detection are marked in black as parallelepipeds in the snapshots. When lane markings are found their lateral positions are marked with dark-to-bright and bright-to-dark transitions by three black lines looking like a compressed letter capital H. If no line is found a black dot marks the predicted position for the center of the line. When these missing edges occur regularly the lane marking is recognized as a broken line allowing lane changes . Long-distance Test Run Till the mid-1990s most of the test runs served one or a few specific purposes to demonstrate that these tasks could be done by machine vision in the future. Road types investigated were freeways German Autobahn and French Autoroute state roads of all types and minor roads with and without .
