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A vision-based car navigation system (CNS) gives drivers more precise and realistic traffic data than a traditional 2D-CNS. As part of the vision-based CNS, the ability to detect lane markings can provide significant warnings which increase traffic safety and convenience. Meanwhile, accurate lane classification results can indicate the current/approaching road conditions in this system. This paper...
As driver's inattention becomes one of the major causes of traffic accidents, there have been many researches for monitoring driver's health and cognitive states. In this paper, a non-intrusive real-time ECG system based on capacitive sensing method was proposed. To verify the ECG sensing system, on-road experiment was conducted on three different types of road environment. As a result, the ECG waveforms...
Winter tire is important and helpful for road users or automobile drivers to obviate serious traffic accidents. They also help road administrators to prevent many slip traffic accidents by such vehicles especially from the expressways, particularly in a snowy area. This paper is concerned with the reliable detection of tire types using only tire noise from passing vehicles. In practice, the tire noise...
Vehicle localization is the primary information needed for advanced tasks like navigation. This information is usually provided by the use of Global Positioning System (GPS) receivers. However, the low accuracy of GPS in urban environments makes it unreliable for further treatments. The combination of GPS data and additional sensors can improve the localization precision. In this article, a marking...
Due to the fast growing vehicle population in the recent years has resulted in considerable increase in the traffic on roads, causing alarming noise pollution and also making the task of vehicle monitoring cumbersome for the civil force. This paper proposes an idea to design an on board equipment SHARP which implements soundless horn, a mechanism for vehicles to reduce the traffic noise and a remote...
Online and robust localization in a large scale outdoor environment is an essential component for self-driving vehicles. This paper addresses the theoretical and experimental development of a 6DOF localization approach with an online Unscented Rauch-Tung-Striebel (RTS) Smoother. This work focuses on the performance evaluation of the Unscented RTS smoother from a low-cost inertial sensor and consumer-grade...
This study proposes an approach to segment human object from a depth image based on histogram of depth values. The region of interest is first extracted based on a predefined threshold for histogram regions. A region growing process is then employed to separate multiple human bodies with the same depth interval. Our contribution is the identification of an adaptive growth threshold based on the detected...
In recent years, many vehicle detection algorithms have been proposed. However, a lot of challenges still remain. Local Binary Pattern (LBP) is one of the most popular texture descriptors which has shown its superiority in face recognition and pedestrian detection. But the original LBP pattern is sensitive to noise especially in flat region where gray levels change rarely. To solve this problem, Local...
The vehicle state is of significant to examine and control vehicle performance. But some vehicle states such as vehicle velocity and side slip angle which are vital to active safety application of vehicle can not be measured directly and must be estimated instead. In this paper, a Cubature Kalman Filter (CKF) based algorithm for estimation vehicle velocity, yaw rate and side slip angle using steering...
In this paper we are going to estimate the vehicular traffic density by using acoustic or sound signals. Here we will estimate three probable conditions of traffic that is heavy flow traffic (0-10km/h), medium flow (20-40km/h), and free flow (above 40km/h) traffic. Cumulative sound signals consist of various noises coming from various part of vehicles which includes rotational parts, vibrations in...
This paper describes a self-balancing mobile robot and their principal features as materials of construction, instrumentation, data communication and control. This kind of robots are an excellent platform for testing different techniques of control due to characteristics of the system (unstable, underactuated). The tilt measurement by means of an Accelerometer-Gyro pair to control a two-wheeled, self-balancing...
This work presents an efficient power delivery network design for mitigating the coupling of power supply noise in mixed-signal electronics using power transmission lines. Digital circuitry operating at high data rates generates supply noise that can interfere with sensitive RF circuitry. Currently used methods, such as split planes and ferrite beads, have limited isolation bandwidth and can pose...
The paper deals with the problem of decentralized fault detection, isolation and recovery for teams of networked robots. The proposed strategy is a combination of distributed and local approaches that allow the robots to deal with both recoverable and unrecoverable faults. A local adaptive fault observer is used to locally compensate recoverable faults, while a distributed fault detection and isolation...
A 3D-integrated test vehicle that emulates noise generation and propagation in a heterogeneous integrated system has been developed. In-stack waveform capturers are embedded on each tier which captured the generation and propagation of noise. A consistent analytical model is created and analysis using that model has allowed us to develop a design strategy for the power delivery network to attenuate...
Recent developments in centralized ICT architectures have realized the abstraction of hardware and communications functionality into software within for of highly assisted and autonomous vehicles. This development requires a data-centric approach to the integration and fusion of sensory information within the vehicle. We address this requirement through utilizing a hierarchical framework of intelligent...
In this paper, we study the performance of sensing in mobile sensor networks with imperfect knowledge of neighborhood mobility. We examine the impact of exchanging incorrect mobility information on the cost of sensing and the required target coverage. The study is performed for two target coverage models: an independent coverage model and a Markovian one. We demonstrate via extensive simulations that...
The lane detection is important for the lane departure warning (LDW) used in advanced driver assistance systems (ADAS). Several approaches for lane detection were suggested in the past. However, there is still one issue about robustness. This paper presents a robust lane detection method based on a two layer Kalman filter. The key idea is to apply methods from the target tracking domain to identify...
The communication situation inside a passenger compartment can be impaired due to a high background noise at higher ve-locities. An In-Car Communication system (ICC system) is capable of improving this situation by recording the speech signal and reproducing the enhanced speech signal via the integrated loudspeakers. Due to this playback the speech level at the ears of listening passenger is increased...
In this paper we present a methodology to control ground robots under malicious attack on sensors. Within the term attack we intend any malicious disturbance injection on sensors, actuators, and controller that would compromise the safety of a robot. In order to guarantee resilience against attacks, we use a control-level technique implemented within a recursive algorithm that takes advantage of redundancy...
Two feedback controllers are presented that utilize data averaging and model-based estimation to offset the effects of sensor noise and achieve precise control of an autonomous underwater vehicle (AUV) variable buoyancy system (VBS). Operation of the bottom skimming AUV requires a constant reaction force between the seabed and the vehicle. While performing a mission, variable seafloor topography and...
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