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This work describes trajectory planning for autonomous driving. It treats continuous methods, which converge to a local optimum, as well as combinatorial methods, which are globally optimal. It is shown by analysis and experimentally, that both approaches are suitable for autonomous driving, but cover different driving situations.

Fahrzeugregelung --- advanced driver assistance systems --- trajectory planning --- robotics --- Fahrerassistenzsysteme --- vehicle control --- Autonomes Fahren --- Trajektorienplanung --- Robotik --- autonomous driving

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This book summarises the state of the art in computer vision-based driver and road monitoring, focussing on monocular vision technology in particular, with the aim to address challenges of driver assistance and autonomous driving systems. While the systems designed for the assistance of drivers of on-road vehicles are currently converging to the design of autonomous vehicles, the research presented here focuses on scenarios where a driver is still assumed to pay attention to the traffic while operating a partially automated vehicle. Proposing various computer vision algorithms, techniques and methodologies, the authors also provide a general review of computer vision technologies that are relevant for driver assistance and fully autonomous vehicles. Computer Vision for Driver Assistance is the first book of its kind and will appeal to undergraduate and graduate students, researchers, engineers and those generally interested in computer vision-related topics in modern vehicle design. .

Driver assistance systems. --- Computer vision. --- Machine vision --- Vision, Computer --- Mathematics. --- Image processing. --- Pattern recognition. --- Computer science --- Computer mathematics. --- Mathematical Applications in Computer Science. --- Image Processing and Computer Vision. --- Pattern Recognition. --- Artificial intelligence --- Image processing --- Pattern recognition systems --- Automobiles --- Sociotechnical systems --- Electronic equipment --- Optical pattern recognition. --- Optical data processing --- Pattern perception --- Perceptrons --- Visual discrimination --- Computer science—Mathematics. --- Optical data processing. --- Design perception --- Pattern recognition --- Form perception --- Perception --- Figure-ground perception --- Optical computing --- Visual data processing --- Bionics --- Electronic data processing --- Integrated optics --- Photonics --- Computers --- Computer mathematics --- Mathematics --- Optical equipment