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(e) (f) (g) (h) 
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
(q) (r) (s) (t) 
Figure 10: System results for the task ICC. Object-related analysis: segmentation results (a)-(d), tracking results (e)-(h); 
Knowledge base: lane information (i)-(1); Scene interpretation: bird’s eye view (m)-(p); Behavior planning: (q)-(t). 
9 CONCLUSIONS 
The proposed architecture shows flexibility for integrating different tasks in terms of a driver assistance system. Its 
applicability is demonstrated on the problem of ICC. The main advantages of the presented architecture are a flexible data 
integration structure, task modularization, and multi-level (object-related and behavior-related) representations. Different 
  
International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part BS. Amsterdam 2000. 353