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Lane estimation plays a central role for Driver Assistance Systems, therefore many approaches have been proposed to measure its performance. However, no commonly agreed metric exists. In this work, we first present a detailed survey of the current measures. Most of them apply pixel-level benchmarks on camera images and require a time-consuming and fault-prone labeling process. Moreover, these metrics...
This work introduces a novel surface registration method based on foliation. A foliation decomposes the surface into a family of closed loops, such that the decomposition has local tensor product structure. By projecting each loop to a point, the surface is collapsed into a graph. Two homeomorphic surfaces with consistent foliations can be registered by first matching their foliation graphs, then...
Human mobility pattern analysis are interesting and important topic which has become feasible nowadays by the flashing development of data collection and analysis platform technology. This paper leverages Call Detail Records(CDRs) data to analyze the mobility patterns of samples from Beijing residents. First, collective mobility and commuting patterns shows that Beijing residents are much busier than...
Feature ranking from video-wide temporal evolution brings reliable information for complex action recognition. However, a video may contain similar features in the sequence of frames which deliver unnecessary information to the ranking function. This paper proposes a method to improve the rank-pooling strategy which captures the optimized latent structure of the video sequence data. The optimization...
This paper presents the application of the Anisotropic Fast Marching Method to the path planning problem of robots moving in spatial environments. The slope of a terrain should be considered in a tensorial way because at any point on a mountainside there are two main slopes: the maximum, which is the slope of the gradient, and the minimum, which is the perpendicular slope to the gradient. The resulting...
With the recent advances in the field of autonomous driving, large scale deployment of such vehicles on public roads is both foreseeable and intended by many manufacturers. In order to not only maintain safety, but also driving comfort and comprehensibility at all times it is necessary to develop and implement modularized and standardized interfaces for planning and information exchange. In this paper,...
Dynamic manipulation of magnetization state (MS) in variable flux permanent magnet synchronous machines (VF-PMSMs) during normal operation based on the torque-speed operating conditions has been shown to significantly reduce machine losses over urban driving cycles. However, the additional losses that are induced during the dynamic MS manipulation have not been evaluated. This paper presents a combination...
This report examines a system for electronic measurement and calculation of the coordinates of an object on a target and subsequent reporting of a certain result on the position of the object. It is a method of locating objects using sound receivers — TDOA (Time Difference of Arrival), a part of multilateration (MLAT) method used to locate mobile phones, civil aviation aircraft, locating military...
The use of direct device-to-device (D2D) communications is expected to drastically increase the spatial frequency reuse significantly improving the capacity of forthcoming fifth generation (5G) cellular systems. The number of D2D pairs operating within the same channel that can be supported in a certain area of interest is limited by the interference imposed by them on each other. In an inherently...
We explore a quantitative assessment for a Microsoft Kinect-based stroke rehabilitation virtual reality (VR) video game, Mystic Isle, by evaluating three assessment metrics of player hand movement– maximum range (extension), peak velocity and mean velocity. We also analyze the left-right hand symmetry by visualizing trajectories of both hands throughout the game. Assessment metrics obtained by the...
In order for autonomous surface vessels (ASVs) to avoid collisions at sea it is necessary to predict the future trajectories of surrounding vessels. This paper investigate the use of historical automatic identification system (AIS) data to predict such trajectories. The availability of AIS data have steadily increased in the last years as a result of more regulations, together with wider coverage...
In this work, we propose a GRASP+VNS algorithm for solving the allocation of Roadside Units (RSUs) in a Vehicular Network. Our main objective is to find the minimum set of RSUs to meet a Deployment Delta (ρ1,ρ2). The Deployment Delta (ρ1,ρ2) is a metric for specifying minimal communication guarantees from the infrastructure supporting the Vehicular Network. We compare GRASP+VNS to some baseline algorithms:...
The recent advances in Unmanned Aerial Vehicles (UAVs) technology permit to develop new usages for them. One of the current challenges is to operate UAVs as an autonomous swarm. In this domain we already proposed a new mobility model using Ant Colony Algorithms combined with chaotic dynamics (CACOC) to enhance the coverage of an area by a swarm of UAVs. In this paper we propose to consider this mobility...
This paper presents a distributed area coverage optimization algorithm for a group of heterogeneous robots operating on a planar area. Distributed control algorithms for solving such area coverage problems are well-established in the literature. However, the real-time implementation of these algorithms requires significant computational resources, especially when the robots operating in the environment...
Location data collection at a societal scale is increasingly becoming common - examples of this are call and data detail records in telecommunication companies, GPS samples collected by car companies, and GPS samples from mobile devices in mapping companies (e.g., Google, Microsoft). Such large scale mobility datasets have applications in urban planning, network planning, surveillance, and real-time...
A numerical study of multi-objective optimization with Proper Orthogonal Decomposition (POD) and Gaussian predictive distribution on the well known ZDT and DLZT benchmark set, is presented and discussed. Based on the algorithm, design optimization of the Global Trajectory Optimization Problems (GTOP) database based on trajectory models of real-world interplanetary space mission, Cassini is presented...
When treating highly-infectious diseases such as Ebola, health workers are at high risk of infection during the doffing of Personal Protective Equipment (PPE). This is due to factors such as fatigue, hastiness, and inconsistency in training. The introduction of a semi-autonomous robot doffing assistant has the potential to increase the safety of the doffing procedure by assisting the human during...
Trajectory reversing is a method commonly used for estimating the region of attraction of stabilized equilibria. Using a discrete set of points obtained by trajectory reversing, this paper presents an algorithm for estimation and mathematical representation of the region of attraction using convex hulls. Several two-dimensional examples are presented to illustrate the usefulness of the algorithm....
This paper presents a fully automated procedure for controller synthesis for multi-agent systems under coupling constraints. Each agent has dynamics consisting of two terms: the first one models the coupling constraints and the other one is an additional bounded control input. We aim to design these inputs so that each agent meets an individual high-level specification given as a Metric Interval Temporal...
Statistical analysis of longitudinal data is a significant problem in Biomedical imaging applications. In the recent past, several researchers have developed mathematically rigorous methods based on differential geometry and statistics to tackle the problem of statistical analysis of longitudinal neuroimaging data. In this paper, we present a novel formulation of the longitudinal data analysis problem...
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