An all-transputer visual autobahn-autopilot/copilot

An integrated system for visual road vehicle guidance has been created on transputer-hardware and partly validated in normal Autobahn traffic environments. The computer vision and dynamic scene understanding components are discussed. The system is capable of recognizing horizontal and vertical curvature of the lane, lane width, number of lanes, the state of the vehicle relative to the lane, and the relative state of two other objects by recursive monocular estimation following the 4-D approach as a unifying scheme for 3-D dynamic scene understanding through motion stereo. The architecture realized on transputer hardware is described. Experimental results with a 5-ton van are discussed.>