Christian Duchow

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Driver assistance functions on marked innercity intersections require a reliable detection of intersection lanes. Due to the high complexity of intersection scenarios and the large amount of clutter that is usually encountered in urban areas, existing highway lane detectors are not applicable for this task. In order to detect the lanes on marked innercity(More)
Autonomous driving in unstructured environments has attracted an unprecedented level of attention when the DARPA announced the Grand Challenge Competitions in 2004 and 2005. Autonomous driving involves (at least) three major subtasks: perception of the environment, path planning and subsequent vehicle control. Whereas the latter has proven a solved problem,(More)
Detection of marked intersections poses challenging demands on the quality of a lane marking detection. Therefore, a novel approach to single lane marking segment detection is proposed that enforces the detected objects to be of rectangular shape. Two algorithms are given to incorporate this knowledge into the detection process. The first algorithm(More)
This paper presents a system for real-time feature detection and subsequent path planning for autonomous driving. Special focus lies on visual features for autonomous navigation: stereoscopic and monoscopic cues are employed to distinguish between trafficable road and obstacles of any kind; temporal and stereoscopic point correspondences are used to(More)
This paper describes a flexible, marking-based approach to intersection detection. Edge contours are extracted from an image acquired with an onboard camera. The contours are mapped to the flat earth model so as to remove the effect of the perspective mapping. Using properties like spatial context, orientation and length, the individual markings are grouped(More)
Zusammenfassung Existierende Ansätze zur Fahrbahnerkennung arbeiten – vermutlich prinzipbedingt – auf jeweils nur kleinen Teilmengen der möglichen Fahrbahnkonfigurationen robust. Ein Schlüssel auf dem Weg zu allgemeingültig arbeitenden Verfahren liegt in der massiven Erhöhung der Menge des im Schätzprozess genutzten Vorwissens. Im Hinblick auf eine(More)
Dieser Beitrag beschreibt das unbemannt und vollständig autonom fahrende Landfahrzeug ION, das im Finale des Grand Challenge Wettrennens 2005 durch die Mojave Wüste in Nevada eine Strecke von 47 km bewältigt hat. Nach einer Beschreibung der Systemarchitektur fokussiert der Beitrag auf die Sehsystem-gestützte Bahnplanung. Es wird ein probabilistisches Modell(More)
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