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This paper presents a hybrid visual servo controller for underwater vehicles by exploiting a combination of measured Euclidean information and image information of a single feature. A dynamic inversion-based neural network control scheme is proposed for tracking of the reference trajectory generated from a constant target pose. A single-hidden-layer (SHL) feedforward neural network, in conjunction...
The National Aeronautics and Space Administration (NASA) Airborne Subscale Transport Aircraft Research (AirSTAR) Unmanned Aerial System (UAS) is a facility developed to study the flight dynamics of vehicles in emergency conditions, in support of aviation safety research. The system was upgraded to have its operational range significantly expanded, going beyond the line of sight of a ground-based pilot...
The percentage of false alarms caused by spiders in automated surveillance can range from 20–50%. False alarms increase the workload of surveillance personnel validating the alarms and the maintenance labor cost associated with regular cleaning of webs. We propose a novel, cost effective method to detect false alarms triggered by spiders/webs in surveillance camera networks. This is accomplished by...
Accurate detection and localization of vehicles in aerial images has a wide range of applications including urban planning, military reconnaissance, visual surveillance, and realtime traffic management. Automated detection of vehicles in aerial imagery is a challenging task, due to the density of vehicles on the road, the complexity of the surrounding environment in urban areas, and low spatial resolution...
This paper presents a development algorithm of hemi-cylinder projection plane applied in panorama view of AVM applications. This projection plane is established to maintain the FOV in horizontal axis. The calibration parameters are estimated with OcamCalib toolbox, and comparison of keypoint detection are showed as experimental results. Our panorama view stitching with homography matrix calculated...
Vehicle Logo Recognition(VLR) has been an important study field in intelligent Transportation system (ITS). This paper proposes to recognize vehicle logo and predict logo attributes by combining Convolutional Neural Network (CNN) with Multi-Task Learning(MTL). In order to accelerate convergence of multi-task model, an adaptive weight training strategy is employed. To verify the algorithm, the Xiamen...
Insufficient time headway is an important reason for rear-end collisions. To prevent this type of accident, a series of discontinuous line markings were installed on the surface of the slow lane of a real-world expressway in China. Statistical analyses showed that, after the installation of discontinuous line markings, 1) the mean time headway was increased, 2) the time headway distributions were...
Driving while feeling fatigue or drowsy may increase the chance to end up in serious accident, resulting in fatality or serious injuries. Many detection and monitoring systems have been developed for fatigue drivers but not many are focusing on sensory modalities to be used as feedback to alert the drivers. By providing multiple channels for receiving information, such a feedback could shorten the...
The use of multimodality in warning systems has proven to be more effective than any unimodal warning systems, as it lowers the visual workload and provides multiple channels in alerting users. Unfortunately, uni modality is found to be most commonly practiced in warning systems, instead. Literature suggests that audio and haptic multimodal warning systems is the most suitable to be implemented in...
An ability to predict collisions is essential for current vehicles and autonomous robots. In this paper, an integrated collision predication system is proposed based on neural subsystems inspired from Lobula giant movement detector (LGMD) and directional selective neurons (DSNs) which focus on different part of the visual field separately. The two type of neurons found in the visual pathways of insects...
Autonomous vehicles will significantly change the existing driver-vehicle relationship, since only a destination input from the human driver will suffice. However, reduced degree of human-control could result in lack of driving pleasure and excitement. Thus, we proposed a method to increase the flexibility in controlling of an autonomous vehicle by allowing the driver to control its lateral and longitudinal...
With the rapid development and reduced cost of digital video capturing devices, driving video recorders (DVRs) begin to gain widespread popularity. What is seen and what happens along the way can thus be recorded in videos. However, searching for a specific scene or event among such massive video collections is laborious and tedious. In this paper, we develop a speed-adaptive street view image generation...
The trends are reviewed in the development of unmanned transport systems. There is highlighted an increasingly important part of various range vision/location systems. There is described an architecture of the on-board computer network supplying information to the control systems of the mobile vehicles with the enhanced level of independence and totally unmanned. The proposed architecture provides...
In recent times, Vehicular Ad Hoc Networks (VANETs) are increasingly gaining attention for their applicability in safe driving support systems. There are a variety of safety and route planning applications using VANETs such as emergency accidents warning, intersections warning, and road congestion warning applications. Vehicle visualization is an effective way to support safe driving. Visualized hidden...
This paper presents a visual attention based convolutional neural network (CNN) to solve the image classification problem in the real complex world scene. The presented method can simulate the process of recognizing objects and find the area of interest which is related with the task. Compared with the CNN method in image classification, the model is proficient in fine-grained classification problem...
This study proposes a new car-following (CF) model considering the effect of visual angle under the non-lane-discipline environment. In particular, the visual angle of the driver between the following vehicle and the preceding vehicle as well as its change rate is considered on a road without lane discipline. Stability analysis of the proposed CF model is performed using the perturbation method to...
The elevated lighting demand in tunnel's portal zone to guarantee drivers eye adaptation to the internal luminance has been the subject of previous studies exploring the opportunity to gradually introduce daylight in the threshold zone and thus reduce consumption. A 1:10 scale model of this adaptation zone, called daylight “filter” structure, has been constructed to investigate uniformity and luminance...
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...
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...
This paper presents the last developments towards vision-based target tracking by an AUV. The main concepts behind the visual relative localization are provided and the results from a statistical analysis for the relative localization algorithm are presented. The purpose of this analysis is to ensure properness of data used to feed controllers that are responsible for governing the AUV motion. A new...
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