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Autonomous driving technology has made significant advances in recent years. In order for self-driving cars to become practical, they are required to operate safely and reliably even under adverse driving conditions. However, most current autonomous driving cars have only been shown to be operational under amiable weather conditions, i.e., on sunny days on dry roads. In order to enable autonomous...
Localization is a key capability for autonomous vehicles especially in urban scenarios. We propose the use of pole-like landmarks as primary features in these environments, as they are distinct, long-term stable and can be detected reliably with a stereo camera system. Furthermore, the resulting map representation is memory efficient, allowing for easy storage and on-line updates. The localization...
This paper proposes a new adaptive repetitive visual-servo control system for a moving high-flying vehicle (HFV) with an uncalibrated camera to monitor, track, and precisely control the movements of a low-flying vehicle (LFV) or mobile ground robot. When deployed, a remote operator of the HFV defines the desired trajectory for the LFV in the HFV's camera frame (image frame). Due to the circulatory...
Detecting small obstacles on the road ahead is a critical part of the driving task which has to be mastered by fully autonomous cars. In this paper, we present a method based on stereo vision to reliably detect such obstacles from a moving vehicle.
In recent years, location-based services and indoor positioning systems gained increasing importance for both, research and industry. Visual localization systems have the advantage of not being dependent on dedicated infrastructure and thus are especially interesting for navigation within buildings. While there are already approaches of using pre-recorded databases of reference images to obtain an...
In the paper, a near-infrared-ray (NIR) and side-view video based low-complexity drowsy driver detection system is developed for day and night applications. The proposed system detects drowsy conditions effectively whether or not glasses. To reduce the redundant computations, the pre-defined ROI (region of interest) is used at the procedures of face, glasses bridge, eyes, and nose feature detections...
A driver's inattention to or disregard for the minimum safety distance creates a hazardous situation in which avoiding a rear-end collision is nearly impossible. In a joint effort to implement safety and decision-making processes at an individual level, we present in this paper a cooperative approach to increase the driver's visual awareness of safe distances. Our Tailigator system garners information...
We proposed a Bayesian farmework with the goal to enhance the performance of region proposals generated by Edgeboxes for vehicles. We proposed an innovative objectness measure that combines several geometrical characteristics of proposals into a Bayesian framework. Our method exploits Bayesian to respectively integrate the initial score, aspect ratio and several 3D features related to depth information...
In this paper, a feasibility study is conducted to estimate the pose of a vehicle based on a mono-camera using road direction signs and a public online database. The proposed algorithm uses a mono-camera to detect and segment the road direction sign and matches the detected sign image with the reference image in the database to calculate the relative pose between the road sign and the vehicle. Using...
The goal of region proposal approaches is to decrease the hunting zone for classifiers. An innovative objectness measure that combines several characteristics of proposals in a Bayesian framework is explicitly presented in this paper. We try to use Bayesian to respectively integrate four different features of proposals, and employ the posterior probability of positive samples as new score to guide...
In this paper an FPGA-based video HiL (Hardwarein-the-Loop) solution is presented. It was designed to evaluate an of-the-shelf ADAS (Advanced Driver Assistance System) smart camera consisting of a video sensor (so-called forward looking camera (FLC)) and video processing unit. It allows to directly capture and store on a PC the video stream from the sensor. Then, the pre-recorded sequences can be...
This paper presents a method which detects and tracks objects for navigation of a maritime surface vehicle. The method uses stereo vision system which finds saliency map, calculates disparity and distance from the stereo vision image. The method adopts frequency-tuned saliency map and finds dissimilar area in the image with the template which is found by the salient region detection. It is possible...
This paper presents a new approach for pedestrian detection in the context of Driver Assistance Systems (DAS). Given a camera with known intrinsic parameters, a flexible online calibration scheme that explores the expected road geometry is used to obtain the extrinsic parameters. With the full camera parameters, the expected geometry and size of a standing person is used to customize a baseline pedestrian...
For the past several years, our team has developed and experimented with a novel method to support the verification and validation (V&V) of autonomous systems. This method, entitled Expert-Guided Scenarios for Autonomy Validation (EGS-AV), combines an extensible, database-oriented information model for operational scenarios with a systematic process for eliciting validation information from subject...
MBARI has been conducting remotely operated vehicle (ROV)-based video surveys of the upper 1000 meters of the water column in Monterey Bay, California for over 23 years. These surveys have produced a unique midwater time-series data set that has enabled MBARI scientists to observe changes in mesopelagic animal distribution and community structure in Monterey Bay over that time period. These changes...
We present an underwater docking technique for a manta-type unmanned undersea vehicle (UUV) which is under development in Korea Institute of Robot and Convergence (KIRO). The manta-type UUV is a test-bed vehicle for demonstrating an autonomous docking technique in the water tank [1]. There are two cameras mounted in front of the vehicle for vision-based underwater localization around docking station...
A method of generating photomosaics from AUV-derived seafloor images was produced using principally the software packages MB-System and Matlab. Images are placed based on their geographical positions as logged by the vehicle, however, the raw navigation is refined using acquired bathymetry, reference bathymetry, and the images themselves. During these refinements, care is taken to maintain a physically...
Most of the autonomous underwater vehicles (AUVs) are provided with a main battery to process the on-board software and for the electronic systems. In this case, on-board energy capacity (battery capacity) will limit the operational time of the AUV. Energy depletion may occur at a critical moment during a task execution. In addition, returning the robot to its home-base and recharging the AUV to complete...
A suite of complementary survey tools aimed at producing 1-cm resolution bathymetric models co-registered with 2-mm pixel color photography has been assembled. The design goal is to produce quantitative documentation of both geological and biological features that will allow change over time to be assessed at vertical and lateral scales approaching one centimeter. The current suite of tools combines...
The purpose of this paper is to present SeaTrepid's novel approach to wide area sea floor mapping with use of multiple Autonomous Underwater Vehicles (AUVs). Utilizing multiple Unmanned Surface Vessels (USVs) tracking our AUVs, SeaTrepid Deep Sea/Ocean Infinity will achieve a force multiplier equal to the number of vehicles deployed through simultaneous operations.
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