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Paper TuD07.1

Unterholzner, Alois (University of the Bundeswehr Munich), Himmelsbach, Michael (University of the Bundeswehr Munich), Wuensche, Hans J (UniBw Munich)

Active Perception for Autonomous Vehicles

Scheduled for presentation during the Regular Session "Perception for Autonomous Vehicles" (TuD07), Tuesday, May 15, 2012, 16:30−16:45, Meeting Room 7 (Remnicha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Intelligent Transportation Systems, Autonomous Navigation, Visual Tracking

Abstract

Precise perception of a vehicle's surrounding is crucial for safe autonomous driving. It requires a high sensor resolution and a large field of view. Active perception, i.e. the redirection of a sensor's focus of attention, is an approach to provide both. With active perception, however, the selection of an appropriate sensor orientation becomes necessary. This paper presents a method for determining the sensor orientation in urban traffic scenarios based on three criteria: the importance of traffic participants w.r.t. the current situation, the available information about traffic participants while considering alternative sensor orientations as well as sensor coverage of the vehicle's relevant surrounding area.

 

 

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