Computer Engineering Paper Alberto Broggi, Massimo Bertozzi, Alessandra Fascioli, and Gianni Conte, Automatic Vehicle Guidance: the Experience of the ARGO Autonomous Vehicle. World Scientific Co. Publisher, Singapore, Singapore, April 1999, ISBN 981-02-3720-0,
Electronic version of the paper
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ABSTRACT



Automatic Vehicle Guidance:
The Experience of the ARGO Autonomous Vehicle



               

                                The results and the experience of the ARGO project, as well as other similar projects worldwide, are now described in a book, published by World Scientific Co. Publisher: "Automatic Vehicle Guidance: The Experience of The ARGO Autonomous Vehicle", by Alberto Broggi, Massimo Bertozzi, Alessandra Fascioli, and Gianni Conte.


The book cover



The book has also been translated into Chinese:

A page of the Chinese translation

In the following, the index of the book is presented.



Preface

Part I: Intelligent Vehicles
  • 1 Introduction
  • 2 Intelligent Vehicles and Machine Vision
    • 2.1 Evolution of Intelligent Transportation Systems
    • 2.2 Requirements of Intelligent Transportation Systems
    • 2.3 Sensing the Environment
    • 2.4 Machine Vision
  • 3 State of the Art
    • 3.1 Road Following
      • 3.1.1 Lane Detection
      • 3.1.2 Obstacle Detection
    • 3.2 Worldwide Projects
      • 3.2.1 Research carried out on the MOB-LAB Vehicle
      • 3.2.2 Research carried out at the Centro Ricerche FIAT
      • 3.2.3 Research carried out at the Universitat der Bundeswehr
      • 3.2.4 Research carried out at Daimler-Benz
      • 3.2.5 Research carried out at the Fraunhofer-Institut fur Informations und Datenverarbeitung
      • 3.2.6 Research carried out at the Laboratoire Central des Ponts-et-Chaussees de Strasbourg
      • 3.2.7 Research carried out at the Defence Evaluation and Research Agency
      • 3.2.8 Research carried out at Carnegie Mellon University
      • 3.2.9 Research carried out at The Ohio State University
      • 3.2.10 Research carried out at the University of Michigan
      • 3.2.11 Research carried out at the Massachusetts Institute of Technology
      • 3.2.12 Research carried out at the Phoang University of Science and Technology

Part II: The ARGO project
  • 4 Algorithms for Image Processing
    • 4.1 Lane Detection: a Model-Based Approach
      • 4.1.1 The multi-resolution approach
      • 4.1.2 The algorithm structure
      • 4.1.3 Performance analysis
      • 4.1.4 Critical analysis and evolution
    • 4.2 Obstacle Detection: a Model-Based Approach
      • 4.2.1 The vehicle detection algorithm
      • 4.2.2 Performance analysis
    • 4.3 The GOLD System
      • 4.3.1 Inverse Perspective Mapping
      • 4.3.2 Inverse Perspective Mapping and stereo vision
      • 4.3.3 Functionalities
      • 4.3.4 An extension of Inverse Perspective Mapping to handle non-flat roads
      • 4.3.5 Discussion
  • 5 Hardware Support for Real-Time Image Processing
    • 5.1 The PAPRICA Architecture
      • 5.1.1 Architectural issues
      • 5.1.2 Hardware system description
    • 5.2 Critical Analysis of the PAPRICA Architecture
      • 5.2.1 Memory organization and processor virtualization
      • 5.2.2 I/O problems
      • 5.2.3 Instruction set
      • 5.2.4 Architectural evolution
    • 5.3 The PAPRICA-3 Architecture
      • 5.3.1 Hardware system description
      • 5.3.2 Obstacle Detection on PAPRICA-3
    • 5.4 The MMX Technology
      • 5.4.1 MMX optimization issues
      • 5.4.2 Obstacle Detection on an MMX-based processor
    • 5.5 Comparison between PAPRICA-3 and MMX Processors
      • 5.5.1 Algorithms implementation
      • 5.5.2 Performance evaluation
      • 5.5.3 Discussion
  • 6 The ARGO Vehicle
    • 6.1 The Data Acquisition System
      • 6.1.1 The vision system
      • 6.1.2 The speed sensor
      • 6.1.3 The user interface
      • 6.1.4 The keyboard
    • 6.2 The Processing System
    • 6.3 The Output System
      • 6.3.1 The acoustical devices
      • 6.3.2 The optical devices
      • 6.3.3 The mechanical devices
    • 6.4 The Control System
    • 6.5 Functionalities
    • 6.6 Other Vehicle Equipments and Emergency Features

Part III: Project Results
  • 7 The MilleMiglia in Automatico Tour
    • 7.1 Description
      • 7.1.1 Dates and schedule
      • 7.1.2 Data logging
      • 7.1.3 Live broadcasting of the event via Internet
  • 8 Performance Analysis
    • 8.1 System Performance
      • 8.1.1 The vision system
      • 8.1.2 The processing system
      • 8.1.3 The visual processing
      • 8.1.4 The control system
      • 8.1.5 The man-machine interface
      • 8.1.6 Environmental conditions
      • 8.1.7 The data transmission system
    • 8.2 Statistical Analysis of the Tour
      • 8.2.1 Detailed analysis of one hour of automatic driving
    • 8.3 Discussion
  • 9 Closing Remarks

Appendices
  • A Morphological Implementation of the DBS Filter
  • B PAPRICA-3 Programming Environment
    • B.1 Low Level Programming Language
    • B.2 High Level Programming Language
    • B.3 Assembly Code Optimization
      • B.3.1 Deterministic optimization
      • B.3.2 Stochastic optimization
      • B.3.3 Parallel implementation of the code optimizer
  • C Global Communications on PAPRICA-3
    • C.1 Concurrent Communications on the ICN
    • C.2 Determining the Sets of Compatible Communications

References

Biographic Notes
                               


More information are available on line at the following Web address: http://millemiglia.ce.unipr.it You can from World Scientific.


For more information send email to broggi@CE.UniPR.IT