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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,...
Intelligent Transportation Systems (ITS) are based on the intelligence placed on roadside units and onboard vehicles. ITS technologies, like connected cars, improve road safety by having vehicles communicating with each other, with the infrastructure, or both. The communication uses the 5.9 GHz band, called Dedicated Short Range Communications (DSRC), and protocols defined in the Wireless Access in...
This paper presents a smartphone based dangerous driving behavior detection method. This method is meaningful in applying in driver risk behavior monitoring system, vehicle safe driving system or Usage Based Insurance (UBI). A novel yaw angle detection algorithm is proposed only based on the measurements of low accuracy accelerometers and gyroscopes without any requirements of smartphone placement...
In this paper we present a novel two-camera-based accurate vehicle speed detection system. Two high-resolution cameras, with high-speed and narrow field of view, are mounted on a fixed pole. Using different focal lengths and orientations, each camera points to a different stretch of the road. Unlike standard average speed cameras, where the cameras are separated by several kilometers and the errors...
Intelligent Transportation System (ITS) applications for integral and cooperative vehicle safety as well as some Advanced Driver Assistance Systems (ADASs) benefit from precise determination of relative positions between dynamic traffic objects. With conventional Global Navigation Satellite System (GNSS) measurements, e.g. using Global Positioning System (GPS), the required accuracy cannot be achieved...
The localization of a vehicle is a central task of autonomous driving. Most of the time, it is solved by considering a single algorithm with a few sensors. In this paper, we propose a cooperative fusion architecture based on two main algorithms: a laser-based Simultaneous Localization And Mapping (SLAM) process and a lane detection and tracking approach using a single camera. Both algorithms are designed...
Automated driving relies on fast, recent, accurate, and highly available pose estimates. A single localization system, however, can commonly ensure this only to some extent. In this paper, we propose a multi-sensor fusion approach that resolves this by combining multiple localization systems in a plug and play manner. We formulate our approach as a sliding window pose graph and enforce a particular...
Several Intelligent Transportation Systems (ITS) rely on localization to enable services ranging from comfort to safety applications. Following this same idea, the use of Dedicated Short Range Communications (DSRC) devices based on the IEEE 802.11p standard, and the Vehicular Ad Hoc Networks (VANETs) paradigm, have resulted in the deployment of several protocols, services and applications that need...
Epidemic diseases have repeatedly troubled mankind. With the Zika virus threatening societies around the whole world in recent years, the importance of epidemic disease control is greater than ever. We propose a warning and detection system for epidemic diseases. In our work, we designed the system and algorithm using GPS to prevent disease infection at the source and international propagation. The...
Despite significant progress in GPS-denied autonomous flight, long-distance traversals (> 100 km) in the absence of GPS remain elusive. This paper demonstrates a method capable of accurately estimating the aircraft state over a 218 km flight with a final position error of 27 m, 0.012% of the distance traveled. Our technique efficiently captures the full state dynamics of the air vehicle with semi-intermittent...
With emphasis on Smart Cities as the future of our world, Vehicular Communication technology rises to the forefront of our focus to enable efficient and intelligent transportation systems. Vehicular communication relies on localization for various applications such as safety and traffic related ones. Current systems rely on Global Positioning Systems (GPS) to obtain vehicle position. Accurate localization...
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...
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...
Driver behaviour has a significant influence on vehicle accidents. Measuring and providing feedback on driver behaviour can provide significant benefits for understanding and improving road safety. In order to detect driver actions and driving characteristics from the broadest population of drivers, mobile phones can be used to collect low cost information and provide easy accessibility, using sensors...
Intelligent Transportation System (ITS) applications for integral and cooperative vehicle safety as well as some Advanced Driver Assistance Systems (ADASs) benefit from highly accurate positioning. Shared position data between dynamic traffic objects via Inter-Vehicle Communication (IVC) are the backbone for deriving vehicle trajectories. These can be used for assessing a situation's criticality in...
This paper proposes a method for fused navigation of an unmanned marine surface vehicle (UMSV). The method also detects the outlier and interference of global positioning system (GPS) simultaneously. The method fuses available sensor measurements through extended Kalman filter (EKF) to find the location and attitude of the vehicle. The method uses error covariance of estimated location for detection...
A smart city is emerging as an application of information and communication technologies to mitigate the problems generated by the urban population growth. One of the smart city solutions is to establish an efficient fleet management relating to the use of a fleet of vehicles (e.g., ambulances and police vehicles). The most basic function in a fleet management system is the real time vehicle tracking...
The Smart cities are a relevant topic nowadays. It attracts most researchers and governmental authorities, due to the vision to adopt technology information and communication in this context, to facilitate access to urban services. Security stills a permanent challenge that affects most smart cities applications. Vehicular Ad Hoc Networks (VANets) is one of those applications, classified in the smart...
Using smartphones in intelligent transportation systems (ITS) is gaining an increasing interest among researchers and developers. Typically, the set of sensors that come with smartphones are utilized to develop tools and services in order to enhance safety and driving experience. GPS, cameras, Bluetooth and inertial sensors are used to detect and analyze drivers' behavior and vehicles' motion. Given...
Networked navigation systems aided by cooperative information sharing are evaluated using flight data from seven uninhabited aerial vehicles. Decentralized estimation architectures are evaluated, and their performance is compared against centralized implementations. It is shown that a flexible covariance intersection–based decentralized implementation is effective, at a fraction of the resources required...
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