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This paper focuses on the inspection for sloping dam wall by a remotely operated vehicle (ROV). First, a dedicated ROV for dam inspection is described. Second, a fixed-distance tracking control strategy is proposed to guarantee the fixed camera-to-subject distance in sloping dam inspection, which is instrumental in sonar image fusion for the large-scale dam wall with a certain inclination. In addition,...
Obstacle detection and tracking is a fundamental task for several Advanced Driver Assistance Systems (ADAS) and self-driving cars. Several approaches have been presented in the literature in the last years and many of them are based on visual sensors. In this paper we propose an approach that uses only stereo cameras to detect and track obstacles and compute visual odometry to get the vehicle's ego-velocity...
This paper focuses on target motion analysis by fusion of information from two moving acoustic sensors. These two sensors may obtain small measurements in order to make quick analysis of moving targets. In this situation, conventional approaches often fail to find accurate motion of targets. In this paper, a fusion algorithm for target motion analysis designed to handle this situation is proposed...
Data or measurement-to-track association is an integral and expensive part of any solution performing multi-target multi-sensor Cooperative Localization (CL) for better state estimation. Various performance evaluations have been performed between various state-of-the-art solutions, but they have been often limited within same family of algorithms. However, there exist solutions which avoid the task...
In order to navigate a robotic base in an unfamiliar environment, some mechanisms to detect positioning and location must be provided. When the base is in the process of navigation and makes use of these mechanisms, errors originating from the environment and base are inserted into the system, resulting in an erroneous position estimation. One relevant approach to reduce the error amplitude is to...
Urbanization is accelerating worldwide, giving rise to serious traffic problems. Traffic wave, known as stop-and go traffic or phantom intersection, is one of the most significant traffic oscillation patterns studied in Traffic Engineering. Usually these studies are numerical experiments that investigate specific places, such as a crossroad or a highway section, and their findings cannot, therefore,...
Localization is a very important issue to wireless sensor networks. The sensor node requires accurate location information in order to achieve the purpose of real-time monitoring and transmission of information. The more the sensor nodes and GPS modules are used in localization, the higher the localization accuracy can achieve, but employing more sensor nodes also leads to high costs. Thus, how to...
This paper presents a new approach for navigating a quadrotor over undulated terrains that can be of great importance for the use of unmanned aerial vehicles in civilian applications such as monitoring of pipes, bridges and buildings. The proposed approach involves the use of a single-beam LiDAR to estimate the terrain profile under uncertainty. The LiDAR is installed at the base of a quadrotor and...
In recent years average life expectancy in developed countries has increased, hence the amount of people which depend on a wheeled walking frame and in addition are visually handicapped has grown. The independent mobility of this people is often limited since they need guidance by other humans. Recent research focused on technical guidance systems implemented on a walking frame. The mobile vehicle...
The vision of cooperative and automated driving sets new challenges for various industry sectors and research domains. In this context, the telecommunications community is called to provide reliable communication systems for vehicle-to-anything (V2X) communication that combined with sensor-based technologies will improve the performance of automated driving and increase further traffic safety. 3GPP...
In this paper, a strides detection algorithm is proposed using inertial sensors worn on the ankle. This innovative approach based on geometric patterns can detect both normal walking strides and atypical strides such as small steps, side steps and backward walking that existing methods struggle to detect. It is also robust in critical situations, when for example the wearer is sitting and moving the...
This paper provides a comprehensive empirical performance analysis of various trajectory compression algorithms for offline compression of trajectory data of sea borne objects which include boats, trawlers, ships etc. Our empirical study uses data from a surveillance application. The surveillance application receives data from various sensors which include GPS integrated sensors, Radars, AIS, S-AIS...
This paper focuses on developing new navigation and reconnaissance capabilities for cooperative unmanned systems in uncertain environments. The goal is to design a cooperative multi-vehicle system that can survey an unknown environment and find the most valuable route for personnel to travel. To accomplish the goal, the multi-vehicle system first explores spatially diverse routes and then selects...
For the understanding of the dynamics inside crowds reliable empirical data are needed. On that basis the safety and comfort for pedestrians can be increased and models reflecting the real dynamics can be designed. For that purpose we are developing the free framework PeTrack collecting data from laboratory experiments. With the new integration of the detection of individual codes the presented framework...
The analysis of multimodal data collected by innovative imaging sensors, Internet of Things (IoT) devices and user interactions, can provide smart and automatic distant monitoring of patients and reveal valuable insights for early detection and/or prevention of events related to their health situation. In this paper, we present a platform called ICT4LIFE which starting from low-level data capturing...
This paper utilizes cross recurrence quantification analysis (CRQA) as a quantitative tool for gear damage severity assessment, and proposes a new approach to simplify the procedure of embedding parameters selection. In principle, the CRQA derives quantitative measures from the cross recurrence plot (CRP) between two different systems to quantitatively describe their dependencies. In the present study,...
This paper addresses the decision problem for terrain-following flights (TFFs) of aircrafts in unknown environments, where global trajectory planning methods cannot be applied directly. In such cases, the uncertainties and complexities of the terrain are needed to be dealt with especially. In order to realize the automatic generation of a terrain-following (TF) controller, a self-learning TF method...
Physical human-robot interaction is one of the hottest topic in robotics and safety issues are its fundamental aspect. The present paper contributes to this aspect in that collision detections can be completed on the servo level in an intuitive way. The principle of the proposed collision detection strategy is based on the relative difference of the feedback commanded torque, which is able to identify...
In order to solve the problem that asynchronous multi-source multi-track cannot be correlated effectively, a trajectory similarity model for asynchronous multi-source multi-track and a track correlation algorithm based on this model are proposed in this paper. Based on the idea of searching potential matched data points under spatial and temporal constraints, the optimal matched point is determined...
Wearable Augmented Reality (AR) devices1 are being explored in many applications for visualizing real-time contextual information. More importantly, these devices can also be used in tele-assistance from remote sites when on-field operators require off-field expert's guidance for trouble-shooting. For an effective communication, touchless hand gestures are the most intuitive to select a Region Of...
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