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Sören Kammel

Sören Kammel
Bosch · Division of Chassis Systems Control

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42
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Publications

Publications (42)
Article
Automated driving on public roads is affected by many foreseeable and unforeseeable driving situations. Depending on the driving task, the environmental and road conditions, and the behavior of other drivers, different actions have to be taken. This paper provides a high-level overview of the development of highly automated driving systems and illu...
Article
Advanced driver assistance systems already help drivers reach their destinations safely and more comfortably. Future systems will evolve from driver assistance over highly automated vehicles to fully automated driving. With an increasing level of automation, automated functions will reduce the driver's burden more and more, thereby creating space f...
Patent
Full-text available
A mapping method includes using a first mobile unit to map two-dimensional features while the first mobile unit traverses a surface. Three-dimensional positions of the features are sensed during the mapping. A three-dimensional map is created including associations between the three-dimensional positions of the features and the map of the two-dimen...
Article
Full-text available
This paper deals with the trajectory generation problem faced by an autonomous vehicle in moving traffic. Being given the predicted motion of the traffic flow, the proposed semi-reactive planning strategy realizes all required long-term maneuver tasks (lane-changing, merging, distance-keeping, velocity-keeping, precise stopping, etc.) while providi...
Conference Paper
Full-text available
The physical properties of highly deformable objects such as clothing poses a challenging problem for autonomously acting systems. Especially, grasping and manip- ulation require new approaches that can accommodate for an object's variable and changing appearance. In this paper, we present a system that is capable of fully autonomously transforming...
Conference Paper
Full-text available
In order to achieve autonomous operation of a vehicle in urban situations with unpredictable traffic, several realtime systems must interoperate, including environment perception, localization, planning, and control. In addition, a robust vehicle platform with appropriate sensors, computational hardware, networking, and software infrastructure is e...
Conference Paper
Full-text available
This paper describes a system for automatic mapping and generation of textured 3D models of indoor environments without user interaction. Our data acquisition system is based on a Segway RMP platform which allows us to automatically acquire large amounts of textured 3D scans in a short amount of time. The first data processing step is registration...
Conference Paper
Full-text available
Safe handling of dynamic highway and inner city scenarios with autonomous vehicles involves the problem of generating traffic-adapted trajectories. In order to account for the practical requirements of the holistic autonomous system, we propose a semi-reactive trajectory generation method, which can be tightly integrated into the behavioral layer....
Article
Die Fähigkeit, die Umgebung eines Fahrzeugs wahrzunehmen, das Fahrzeug dabei stabil auf der Straße zu halten und zugleich der aktuellen Verkehrssituation angemessene Fahrmanöver auszuführen, ist nach wie vor ein herausragendes Leistungsmerkmal menschlicher Fahrer. Aus Gründen des Fahrkomforts, der Effzienz und der Verkehrssicherheit arbeiten jedoch...
Article
Zusammenfassung Durch sensorielle Wahrnehmung und Interpretation von Video- und Lidardaten erstellen sich Kognitive Automobile ein Lagebild ihrer Umgebung, welches die Grundlage für die Entscheidung und Ausführung situationsangepassten Fahrverhaltens bildet. Probabilistische Modelle erlauben dabei die konsistente Repräsentation der Sensorinformatio...
Article
This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms...
Conference Paper
The detection of lane markers is a pre-requisite for many driver assistance systems as well as for autonomous vehicles. In this paper, the lane marker detection approach that was developed by Team AnnieWAY for the DARPA Urban Challenge 2007 is described. Based on current sensor technology, a robust real-time lane marker detection was developed and...
Article
Even small variations of the curvature of a surface may cause malfunction of a part or be perceived as visually unpleasant. However, in the case of specular and painted surfaces, curvature defects can hardly be detected with traditional measurement methods like triangulation or stereoscopy. We describe new strategies to measure the curvature of suc...
Conference Paper
Full-text available
This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the DARPA Urban Challenge 2007 competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algori...
Article
In automotive engineering information about the direction of motion in addition to the speed of a car is of uppermost importance. For example angle and magnitude of the velocity at the wheels represent a fundamental measurement when developing and adjusting chassis. Hence, in this article we present an optical and with it slip-free and contactless...
Conference Paper
Safety requirements are among the most ambitious challenges for autonomous guidance and control of automobiles. A human-like understanding of the surrounding traffic scene is a key element to fulfill these requirements, but is a still missing capability of today's intelligent vehicles. Few recent proposals for driver assistance systems approach thi...
Article
Dieser Beitrag beschreibt das unbemannt und vollständig autonom fahrende Landfahrzeug ION, das im Finale des Grand Challenge Wettrennens 2005 durch die Mojave Wüste in Nevada eine Strecke von 47 km bewältigt hat. Nach einer Beschreibung der Systemarchitektur fokussiert der Beitrag auf die Sehsystem-gestützte Bahnplanung. Es wird ein probabilistisch...
Article
This contribution presents new strategies to inspect specular and painted surfaces. Structures on such surfaces are normally only visible, if patterns of the environment are reflected in them. Thus, conventional approaches only yield a little information gain from a single measurement. In our approach, different intensity patterns are systematicall...
Article
Deflectometry has proven to be a very precise and reliable technique for the detection and measurement of bumps, dents, waviness and scratches on specular surfaces. Phase shifted fringe patterns are successively reflected at the surface and the spatial distortion of these reflected patterns is observed with a camera to extract information about the...
Article
Deflectometry has proven to be a very precise and reliable technique for the detection and measurement of bumps, dents, waviness and scratches on specular surfaces. Phase shifted fringe patterns are successively reflected at the surface and the spatial distortion of these reflected patterns is observed with a camera to extract information about the...
Article
Specular surfaces are used in a wide variety of industrial and consumer products like varnished or chrome plated parts of car bodies, dies, molds or optical components. Shape deviations of these products usually reduce their quality regarding visual appearance and/or technical performance. One reliable method to inspect such surfaces is deflectomet...
Article
Sowohl bei der Fertigung industrieller Zwischenprodukte als auch bei der Produktion von Konsumgütern treten vielerlei glänzende bzw. spiegelnde Oberflächen auf. Während bei technischen spiegelnden Oberflächen, wie z.B. Press- bzw. Gusswerkzeugen oder optischen Bauelementen, die Funktionalität des Werkstücks durch Oberflächendefekte gefährdet ist, s...
Article
Thema des Beitrags ist die automatische visuelle Inspektion geschliffener Oberflächen. Dazu werden neuartige Strategien auf der Grundlage von Bildfolgen mit variiertem Azimut einer gerichteten Beleuchtung vorgestellt, die sich zur Detektion von Fehlstellen in Schleiftexturen mit mehreren Riefenscharen eignen. Im Parameterraum der Beleuchtung werden...
Article
Defects of painted surfaces have proven to be visually disturbing even when their depth is only a few microns. Most inspection approaches neither enable a reliable classification of small defects nor provide a suitable human-machine interface to identify areas to be refinished. Consequently, in most cases the inspection still takes place manually a...
Article
Defekte auf glänzend lackierten Oberflächen wie z.B. Karosserieteilensind für den menschlichen Betrachter leichter wahrzunehmen — und damit störender — als auf diffus reflektierenden Oberflächen. Aus diesem Grund werden für Werkstücke, deren visuelle Erscheinung relevant für ihre Verwendung ist, besonders empfindliche Messverfahren benötigt. Deflek...
Article
This contribution presents a new fusion strategy to inspect specular surfaces. To cope with illumination problems, several images are recorded with different lighting. Typically, the information of interest is extracted from each image separately and is then combined at a decision level. However, in our approach all images are processed simultaneou...
Article
Defects of painted surfaces have proven to be visually disturbing even when their depth is only a few microns. Most inspection approaches neither enable a reliable classification of small defects nor provide a suitable human-machine interface to identify areas to be refinished. Consequently, in most cases the inspection still takes place manually a...
Article
Specular surfaces are used in a wide variety of industrial and consumer products like varnished or chrome plated parts of car bodies, dies or molds. Defects of these parts reduce the quality regarding their visual appearance and/or their technical performance. Even defects that are only about 1 micrometer deep can lead to a rejection during quality...
Conference Paper
During the design and manufacturing processes of specular surfaces, waviness and shape defects may occur, reducing the quality of the surface regarding its visual appearance and/or its technical performance. Typically, these defects are only a few micrometers deep and a few centimeters wide. Beside the plain defect recognition, the reconstruction o...
Chapter
This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algori...
Article
Every measurement task can be seen as a parameter estimation problem aiming at both the value of the measurand and the uncertainty associated with it. The measurement process provides one or more values or signals that contain information about the measurand. To optimally exploit the knowledge on the measurand, this information should be combined w...
Article
Full-text available
Kurzbeschreibung Die automatische Sichtprüfung erobert in raschem Maße die industrielle Meßtechnik und Qualitätskontrolle im Maschinenbau und in vielen anderen technischen Bereichen. Die Entwicklung wird vor allem durch immer leistungsstärkere Rechner und preiswert verfügbare Kamerakomponenten begünstigt. In diesem Praktikumsversuch geht es um die...