The Role of Machine Vision for Intelligent Vehicles

Humans assimilate information from the traffic environment mainly through visual perception. Obviously, the dominant information required to conduct a vehicle can be acquired with visual sensors. However, in contrast to most other sensor principles, video signals contain relevant information in a highly indirect manner and hence visual sensing requires sophisticated machine vision and image understanding techniques. This paper provides an overview on the state of research in the field of machine vision for intelligent vehicles. The functional spectrum addressed covers the range from advanced driver assistance systems to autonomous driving. The organization of the article adopts the typical order in image processing pipelines that successively condense the rich information and vast amount of data in video sequences. Dataintensive low-level "early vision" techniques first extract features that are later grouped and further processed to obtain information of direct relevance for vehicle guidance. Recognition and classification schemes allow to identify specific objects in a traffic scene. Recently, semantic labeling techniques using convolutional neural networks have achieved impressive results in this field. High-level decisions of intelligent vehicles are often influenced by map data. The emerging role of machine vision in the mapping and localization process is illustrated at the example of autonomous driving. Scene representation methods are discussed that organize the information from all sensors and data sources and thus build the interface between perception and planning. Recently, vision benchmarks have been tailored to various tasks in traffic scene perception that provide a metric for the rich diversity of machine vision methods. Finally, the paper addresses computing architectures suited to real-time implementation. Throughout the paper, numerous specific examples and real world experiments with prototype vehicles are presented.