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From driver assistance in manual mode to takeover requests in highly automated mode, knowing the state of driver (e.g. sleeping, distracted, attentive) is critical for safe, comfortable and stress-free driving. Since driving is a visually demanding task, driver's gaze is especially important in estimating the state of driver; it has the potential to derive what the driver has attended to or is attending...
Advanced Driver Assistance Systems (ADAS) towards autonomous driving require an ego vehicle localization on maps to be able to use the map data for e.g. behavior and trajectory prediction of traffic participants.
Unfamiliar urban intersections pose high demand on drivers. They are not only engaged in correctly assessing large amount of visual stimuli, including multiple diverse moving objects (e.g. other vehicles, pedestrians, cyclists) but also actively processing instructions provided by navigation system, either in-car or on other devices such as smart-phones. In such a highly dynamic and engaging situation,...
Underwater Object Localization is widely used in the industry in Autonomous Underwater Vehicles (AUV), both in sea and lake environments for various applications. Sonars and Cameras are popular choices for this, but each sensor alone poses several problems. Data extraction from Optical Cameras underwater is a challenge due to poor lighting conditions, hazing over large distances and spatio-temporal...
This paper presents a hybrid visual servo controller for underwater vehicles by exploiting a combination of measured Euclidean information and image information of a single feature. A dynamic inversion-based neural network control scheme is proposed for tracking of the reference trajectory generated from a constant target pose. A single-hidden-layer (SHL) feedforward neural network, in conjunction...
Recently, increasing efforts have been focused on the development and adoption of autonomous underwater vehicles (AUVs) for various applications. However, the GPS signals are usually unavailable, the vehicle dynamics is very uncertain, and the complicated vision based localization algorithms may not work well in the underwater environments. Hence, accurate and timely state estimation using low-cost...
An optimal design method for generating a flight path passing through specified waypoints while satisfying the task points sent by the ground operators is proposed in this paper. Each specified waypoint is reached exactly at the specified location and time while intermediate waypoints are generated in such a way that they satisfy the task points, with highest benefit measure, i.e., satisfying tasks...
In this paper, we present two novel guidance laws for an unmanned aerial vehicle (UAV) equipped with a fixed camera to track a mobile ground target. The system dynamics is established in the level local coordinate frame, removing the need of converting the target location information to the global inertial frame. The first guidance law is developed using backstepping technique requiring the estimation...
Personalization and automation in future smart vehicles hinge on accurately identifying the driver and passengers in the vehicle. Traditional approaches either require additional infrastructure or impose assumptions about how users interact with their smartphones. The recent proliferation of commercial smartwatches enables new opportunities to solve this problem due to the fixed position of the watch...
NASA's Low-Density Supersonic Decelerator Project is developing and testing the next generation of supersonic aerodynamic decelerators for planetary entry. A key element of that development is the testing of full-scale articles in conditions relevant to their intended use, primarily in the tenuous Mars atmosphere. To achieve this testing, the LDSD project developed a new test architecture for the...
This paper presents a dynamic image-based visual servoing (IBVS) control law for a quadrotor Unmanned Aerial Vehicle (UAV) equipped with a single fixed on-board camera. The motion control problem is to regulate the relative position and yaw of the vehicle to a stationary target located on the ground. The control law is termed dynamic as it based on the dynamics and kinematics of the vehicle. The proposed...
Image retrieval is a vital function for an active vision system recognizing vehicles in dynamic scenes. A pan-tilt-zoom camera provides a range of retrieval options, but is somewhat limited for algorithm development purposes in that if the conditions are not within a certain operative range (due to very bad weather, poor lighting conditions, etc.), retrieved images are not likely to be very useful...
We present a framework for integrating two layers of map which are often required for fully automated operation: metric and semantic. Metric maps are likely to improve with subsequent visitations to the same place, while semantic maps can comprise both permanent and fluctuating features of the environment. However, it is not clear from the state of the art how to update the semantic layer as the metric...
In this paper, we study the dynamics and the control using visual features of a four rotor vertical take-off and landing (VTOL) vehicle known as the X4-flyer while stabilizing with quasi-stationary flight above a planar target. A new control strategy is presented using the homography matrix, it is based on saturation functions for bounding the orientation of the UAV (unmanned air vehicle) in order...
This paper describes a method for station keeping and docking of floating vehicles. We consider the case of a lighter-than-air blimp and that of an underwater robot. Due to the motion disturbances in the environment (currents), these tasks are important to keep the vehicle stabilized relative to an external reference frame. The main difficulties to achieve station keeping and docking are related to...
This paper presents results of simulation studies carried out on the Dragon Flyer quadcoptor for non linear attitude/ altitude control with vision as feedback. The control schemes are based on the integral backstepping approach in Proportional Integral Derivative regulation format and the dynamic surface control approaches. The Lyapunov theorem is used to guarantee stability in the asymptotic sense...
Autonomous driving is a key factor for future mobility. Properly perceiving the environment of the vehicles is essential for a safe driving, which requires computing accurate geometric and semantic information in real-time. In this paper, we challenge state-of-the-art computer vision algorithms for building a perception system for autonomous driving. An inherent drawback in the computation of visual...
In recent years, many advanced driver assistant systems (ADAS) are developed to address great concerns on vehicle safety. However, the testing and verification of ADAS can be very time consuming, costly and even dangerous. This paper presents a vision-based lane departure warning system (LDW) that is developed under a virtual environment. The lane departure warning system consists of an image processing...
This paper details the research, development, and demonstrations of real-world systems intended to assist the driver in urban environments, as part of the Urban Intelligent Assist (UIA) research initiative. A 3-year collaboration between Audi AG, Volkswagen Group of America Electronics Research Laboratory, and UC San Diego, the driver assistance portion of the UIA project focuses on two main use cases...
Analysis of driver's head behavior is an integral part of driver monitoring system. Driver's coarse gaze direction or gaze zone is a very important cue in understanding driver-state. Many existing gaze zone estimators are, however, limited to single camera perspectives, which are vulnerable to occlusions of facial features from spatially large head movements away from the frontal pose. Non-frontal...
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