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In recent years, several advanced safety techniques have been put to practical use for supporting safe driving, ASV (Advanced Safety Vehicle) can detect the presence of surrounding vehicles and pedestrians autonomously. On the other hand, cooperative techniques such as cooperative vehicle-to-vehicle awareness have attracted a lot of attentions in the field of ITS. In this paper, we propose a method...
Modern vehicles are equipped with numerous driver assistance and telematics functions, such as Turn-by-Turn navigation. Most of these systems rely on precise positioning of the vehicle. While Global Navigation Satellite Systems (GNSS) are available outdoors, these systems fail in indoor environments such as a car-park or a tunnel. Alternatively, the vehicle can localize itself with landmark-based...
Traffic Level of Service (LOS) information is crucial for traffic management systems, especially in urban areas. One method to estimate traffic LoS is to use a central server system to process traffic images captured by road side cameras. However, this approach requires a high performance server system as well as high network throughput to transmit images from the cameras to the server, which results...
An estimation framework is presented that improves the robustness of GPS-denied state estimation to changing environmental conditions by fusing updates from multiple view-based odometry algorithms. This allows the vehicle to utilize a suite of complementary exteroceptive sensors or sensing modalities. By estimating the vehicle states relative to a local coordinate frame collocated with an odometry...
This paper presents an algorithm for improving navigation performance of an Unmanned Aerial Vehicle (UAV) in GPS-challenging environments, which exploits aiding measurements from one or more cooperative UAVs flying under full GPS coverage. In particular, sensor fusion is based on an Extended Kalman Filter that integrates measurements from onboard inertial sensors and magnetometers, available GPS pseudoranges,...
Small Unmanned Aerial Systems (sUAS) spread rapidly in the last years, both for civil and military applications. The performance of Dangerous, Dull and Dirty missions implies a wide use of the sUAS, in particular to manage hazardous events, such as natural or manmade major incidents or mass casualty situations. The management and control of an emergency are crucial aspects for the rescue teams and...
We present a novel vision-based traffic monitoring system, which is inspired by the visual structure found in raptors, for tracking expressway vehicles and estimation of their real-world speed over a longer range compared to the typical, single-camera monitoring systems. This vision system features a license plate detection camera that is triggered whenever there is an instance of overspeeding. The...
This paper describes a vision-based multiple model adaptive estimation using UAVs that enables the tracking of a mobile target that changes the system model depending on unknown factors. In our system the machine-learning-based target identification method uses Haar-like classifiers that detects the target position. The system uses multiple extended Kalman filters for each system model and estimates...
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...
Scale adapting and occlusion handling are two important issues in visual tracking, but usually tricky for many algorithms to address them efficiently. In this paper, we propose a framework for multiple-obstacle tracking in maritime scenes with the aid of depth information, which renders the vital clue for scale adapting and occlusion handling. In the proposed framework, each detected obstacle is tracked...
Driver inattention is thought to cause many automobile crashes. Therefore, it is really important to pay high attention all the time though, for one split second of distraction can result in a terrible accident. However, developing an automatic driver assistance system for monitoring his/her attention during driving is a challenging task in computer vision. Level of attention of the driver may vary...
This paper describes systematically two methods used in intelligent transportation systems: Distance Estimation using an onboard camera and car position detection. Distance estimation is a method for detecting distance for the preceding vehicles based on monocular camera. Vehicle position detection is a method of specifying the vehicle position relative to the road that can serve as Lane Departure...
Nowadays, the technological and scientific research related to underwater perception is focused in developing more cost-effective tools to support activities related with the inspection, search and rescue of wreckages and site exploration: devices with higher autonomy, endurance and capabilities. Currently, specific tasks are already carried out by remotely-operated vehicles (ROV) and autonomous underwater...
Recently, detection and recognition of traffic panels and their textual information is studied increasingly to become the next working part of driver assistance systems and autonomous cars. These information are especially useful when other facilities fail to provide enough information about routes and places, like when Global Positioning System (GPS) gets blocked in high density urban areas. However,...
High-speed image sensors, designed for machine vision and control, provide the “eyes” for autonomous and connected vehicle. A noteworthy feature of high-speed image sensors is their ability to be used as a reception device for visible light communication (VLC) signals. Due to the massive number of pixels available and the ability to spatially separate sources, a signal-receiving pixel in the image...
There is increasing interest for aerial vehicles to perform image processing tasks (i.e. object recognition and detection) in real-time. Such systems systems should have minimal data throughput, low computational complexity, and low-power. Traditional frame-based digital cameras are not ideal for meeting such specifications. More recent cameras, inspired by biology, drastically reduce data throughput...
The latest researches, according to National Highway Traffic Safety Administration, reinforce the idea that most of the accidents are not caused by car failures, the driver behavior proved to be more harmful [13]. Driving too fast for the weather conditions can cause a catastrophe. In order to improve the driver's visibility the automotive companies developed headlights based on LED or Laser devices...
The article describes the architecture and use cases of the vehicles external control unit (BBCU — BODY & BOARD CONTROL UNIT) for the vehicle communication within global traffic systems including traffic security and safety (Car2Car, Car2Infrastructure concepts supported), IoT architectures as well as Smart Cities applications. The BBCU is an embedded system optionally supplemented with graphical...
Aggressive driving behavior is among the important causes of traffic accidents. Hence, detection of driver aggressiveness has an importance in terms of decreasing the number of traffic accidents. Collected driving data while the vehicle is in traffic can be used to make inferences about the aggressiveness of the driver. In this study, a multimodal method is proposed in order to detect driver aggressiveness...
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