A robust cognitive approach to traffic scene analysis

A model based approach to monocular image sequence analysis of road traffic scenes is presented. Within this framework a vision system for applications like autonomous driving and collision avoidance was developed. The approach takes part in problems of selective and active vision. The fully automatic system MOSAIK recognizes and describes all visual vehicles on or near the road. It solves the problem to compute a robust scene description under egomotion nearly in realtime on a standard monoprocessor workstation. MOSAIK has been tested by using typical German 'Autobahn' and road scenes. This paper describes the vision approach and the interaction of vehicle recognition and tracking and the influence of attention control.<>