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Intrinsic calibration, i.e. finding the mapping between a camera's image positions and corresponding view rays, is a cumbersome, yet unavoidable task in order to accurately generate and interpret results from many kinds of image processing algorithms. We address this problem in the context of vehicle-mounted cameras with arbitrary fields of view with applications in advanced driver assistance systems...
This paper presents a chance constrained approach to extracting linear models from reference data to be used in subsequence identification or pattern matching. Due to the ordered nature of time series data, the extracted models are sequential, with feasible domains separated by transition points. In a sequence of models, a transition point is defined as the point where one model is invalid and the...
Accurate motion models are key to many tasks in the intelligent vehicle domain, but simple Linear Dynamics (e.g. Kalman filtering) do not exploit the spatio-temporal context of motion. We present a method to learn Switching Linear Dynamics of object tracks observed from within a driving vehicle. Each switching state captures object dynamics as a mean motion with variance, but also has an additional...
Misalignment angles estimation of strapdown inertial navigation system (INS) using global positioning system (GPS) data is highly affected by measurement noises, especially with noises displaying time varying statistical properties. Hence, adaptive filtering approach is recommended for the purpose of improving the accuracy of in-motion alignment. In this paper, a simplified form of Celso's adaptive...
This paper presents a novel method to perform the outlier rejection task between two different views of a camera rigidly attached to an Inertial Measurement Unit (IMU). Only two feature correspondences and gyroscopic data from IMU measurerments are used to compute the motion hypothesis. By exploiting this 2-point motion parametrization, we propose two algorithms to remove wrong data associations in...
We present an iterative learning scheme for improving the performance of highly dynamic open-loop maneuvers with quadrocopters. A probabilistic estimate of the state deviation at the end of the maneuver is obtained by fusing two data sources that are available on-board: 1) an inertial measurement unit, and 2) control inputs from an external pilot that performs a recovery after the open-loop maneuver...
This paper considers the problem of motion planning for linear systems subject to Gaussian motion noise and proposes a risk-aware planning algorithm: CC-RRT∗-D. The proposed CC-RRT∗-D employs the chance-constraint approximation and leverages the asymptotically optimal property of RRT∗ framework to compute risk-aware and asymptotically optimal trajectories. By explicitly considering the state dependence...
Two ideas have gained traction in research in the robotics planning community. Activity planning has become popular where a library of predefined manipulation of the vehicle state is accessible, and is commonly used for missions with complex goal specifications. Another focus has been chance-constrained programming as a method of providing robust motion planning, in which the probability of failure...
Isolation of supply noise between disparate circuit blocks is crucial. When powered by the same voltage supply, the switching noise created at the supply node of the digital devices can couple into the power path of the RF circuitry and cause significant performance degradation. Electromagnetic bandgap (EBG) structures, ferrite beads, and split planes are all commonly used to mitigate this problem,...
Signal return path discontinuities, parasitic inductance and impedance mismatch within interconnects are major factors that contribute to degraded high-speed signal quality in three-dimensional (3D) integrated circuits and systems. In this paper, we apply an alternate power delivery method and a novel I/O signaling scheme to a 3D system to address these issues. Two test vehicles made of stacked PCBs...
We present the results of TV band sensing experiments performed in a suburban environment in Iizuka, Japan. This work adds to our previous work in which we proposed to exploit dynamic spectrum access techniques to facilitate use of the white space to solve shortage of spectrum for vehicular networks. Here, we focus on the terrestrial TV band spectrum sensing, which in addition to the "whitespace...
This paper describes a new approach for 3D LIDAR data segmentation in rough area. As 3D LIDARs become popular equipments in robotics, processing data in real time and safely driving on challenge environments are two important problems of intelligent vehicles. For overcoming roughness and unpredictable inclination in rough area, we design a graph-based segmentation framework. Each LIDAR scan line is...
Numerical simulations of hydrodynamic noise are made based on the Large Eddy Simulation for both flow-induced noise and noise from the flow-induced vibration of shell and propeller of an underwater vehicle. All hydrodynamic noises are predicted by using Lighthill's acoustic analogy method, and their variation characteristics along the axial and transverse directions, the radiation directivity and...
A coverage control algorithm in unknown environment is proposed for the multi-vehicle systems in this paper. The measurement white-noise is taken into consideration while learning the interest information online. The Kalman Filter (KF) is introduced to eliminate the noise disturbance and provide us a set of accurately sampled-data. Then, we describe an adaptive algorithm to approximate the sensory...
Vehicle localization systems rely on measuring distances between a given target and a set of reference points. The accuracy of a localization system strictly depends on the exactness of these measurements. However, the estimation of distances via wireless signals is affected by errors due to factors such as channel noise and multipath propagation. Precise localization is very important for emergency...
Navigation through underwater environments is challenging given the lack of accurate positioning systems. The determination of underwater vehicle movement using an integrated acoustic sonar sensor would provide underwater vehicles with greatly increased autonomous navigation capabilities. A forward looking sonar sensor may be used for determining autonomous vehicle movement using filtering and optical...
Conductive noise from vehicle equipments which contain inverter circuits has been increased by the demand of higher switching operation of power devices in order to improve the power efficiency. On the other hand, since the vehicle equipments are required to minimize the volume, the noise filters should be built-in the housing of inverter circuits. In this case, it is necessary that the conductive...
Data Acquisition (DAQ) and Telemetry are part of the winning formula of any race team or vehicle manufacturer. It is vital to the development phase of a vehicle, so that designs can be validated and tunable parameters adjusted to increase performance and efficiency. Existing DAQ systems fail as they are of universal application type and turn out to be extremely costly and power hungry. Also, the lack...
Vehicle speed detection is used to estimate the velocity of the moving vehicle using image and video processing techniques. Without any camera calibrations video is captured and analyzed for speed in real time. By employing frame subtraction and masking techniques, moving vehicles are segmented out. Speed is calculated using the time taken between frames and corner detected object traversed in that...
A new active vision based lane markings recognition approach is presented. An efficient method for separating road surface data from a 3D LIDAR data frame is proposed which delimitates the drivable region by its profile. A new approach for extracting significant points of lane markings is developed using digital signal processing technology. And the significant points are clustered based on an orientation...
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