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In today's modern world 3D modeling is used in numerous practical applications. Surveillance, Traffic Control, Driver Assistance & Biomedical imaging are few to name. Higher accuracy is vital in each application. Thus accuracy enhancing techniques are used in each case. Among many other techniques Extended Kalman Filter (EKF) is best known for its recursive least-mean square algorithm for error...
Despite the concern of privacy, the method of Floating Car Data (FCD) is clearly one of the cheapest methods to provide real-time or near real-time traffic information. The method has become more affordable with the proliferation of smart-phones and with the existing infrastructure of the wireless network. In conjunction with the virtual trip lines (VTL), the FCD method can mimic the traditional traffic...
Drowsiness is one of the main causes of severe traffic accidents occurring in our daily life. In order to reduce the number of drowsiness-induced accidents, various researches have been conducted with the aim of finding practical and non-invasive drowsiness detection systems by using behavioral measuring techniques. Many of the previous works on behavioral measuring techniques have mainly focused...
This paper presents a vehicle collision avoidance method and it is associated with the exploitation of multiple features based on the AdaBoost classifier result. The proposed system will enhance the precision rate and accuracy of vehicle detection from 72% to 96% using an AdaBoost detection method extracting multiple features in vehicle detection and false alarms are reduced.
A method for tightly-coupling carrier-phase differential GPS with ultra-wideband (UWB) ranging for vehicle-to-infrastructure relative navigation is proposed. Relative position, velocity, clock errors, GPS phase ambiguities and UWB systematic errors are estimated using an extended Kalman filter. The method is tested with real data and evaluated in terms of position accuracy, GPS float ambiguity convergence,...
Compared with the traditional video-based traffic surveillance, the highly-mounted video can surveil a larger range of traffic scene, and the vehicles in the video are rarely occluded. These characters of highly-mounted video-based traffic surveillance system make it more suitable for acquiring the traffic information of a larger traffic area. This paper present a framework of using highly-mounted...
In this paper, reducing the linearization error of Kalman filters family for nonlinear simultaneous localization and mapping (SLAM) problem is investigated and two new methods are presented to reduce the linearization error. Inaccuracy of the formula used to calculate the slope of linear approximation of observation function (Hk) leads to severe linearization error in Kalman filters family. These...
We propose a novel method of ground-radio-based precise positioning that utilizes variation of wireless reception against vehicle travel as fingerprints of road segments. It is considered particularly suitable for environments where wireless reception is dominated by multipath transmission that gives unique feature points to the fingerprint, such as urban and mountainous areas. Experimental results...
Using broadcast in vehicular applications such as autonomous cruise control and collaborative driving can disturb unrelated drivers and fail to convey the message due to unspecified receiver, resulting in increased risk of accidents. For supporting the unicast communication primitive, it is important to know the electronic identities (EIDs), e.g., the IP addresses and the relative positions of the...
Swarms of autonomous underwater vehicles (AUVs) forming mobile underwater networks often operate in moving currents, which introduce severe turbulence that interferes with coordinated and stealthy navigation of fleet. Therefore, individual AUV must adjust their heading whenever needed to ensure it can reach a pre-determined destination. To achieve accurate navigation, AUVs must maintain precise knowledge...
Due to the special working environment, some problems should be taken into account for calibration of vision system used on autonomous surface vehicle (ASV). This paper discussed the relation between calibration parameters obtained from different distances. After a brief introduction to the imaging model of camera and the classical calibration methods, the relation between the distance from calibration...
Traffic fatalities and injuries in Japan have declined for twelve years by the comprehensive counter-measure for the reduction of traffic accidents. The efforts include enhancement of vehicle safety performance in both passive and preventive safety area. With regard to passive safety, major reduction effect was brought by airbag system, seat belt and crashworthiness of vehicle. For further reduction...
In our previous report on an integrated localization using laser range scanners (LRS) and odometry, a variable covariance depending on the number of data, predicted incident angle, and predicted distance of LRS is introduced to EKF to deal with their effects on the localization. In the present paper, this method is applied to a front steering vehicle navigated by the LRS localization and odometry...
As travel is taking more significant part in our life, route recommendation service becomes a big business and attracts many major players in IT industry. Given a pair of user-specified origin and destination, a route recommendation service aims to provide users with the routes of best travelling experience according to criteria, such as travelling distance, travelling time, traffic condition, etc...
The article deals with one-dimensional particle flow models and info communication methods of their verification. The article also describes the software suitable for numerical investigation of the existence of critical traffic modes resulting in a loss of the total chain connectivity.
We propose a linear dimensionality reduction method, Composite Discriminant Factor (CDF) analysis, which searches for a discriminative but compact feature subspace that can be used as input to classifiers that suffer from problems such as multi-collinearity or the curse of dimensionality. The subspace selected by CDF maximizes the performance of the entire classification pipeline, and is chosen from...
Vehicle recognition is a challenging task with many useful applications. State-of-the-art methods usually learn discriminative classifiers for different vehicle categories or different viewpoint angles, but little work has explored vehicle recognition using semantic visual attributes. In this paper, we propose a novel iterative multiple instance learning method to model local attributes and viewpoint...
This paper presents a comparative study of several classification methods for the task of recognizing traffic signs in urban areas. These classification methods are artificial neural network (ANN), k-nearest neighbors (kNN), support vector machine (SVM), and random forest (RF). First, HSI-based color segmentation process is applied to obtain candidate regions. Using centroid-based feature, these regions...
Map matching is the process of finding a match for each GPS point in a vehicle's trajectory to roads on a digital map. Extensive research has been conducted during the last years yielding many algorithms based on different approaches. One of the challenges that face those algorithms is the interruption of GPS signals that occurs specially in dense urban environments. In these cases on-board sensors...
Availability of city wide accurate traffic information enables optimal flow of vehicles in a road network. Intelligent Transportation Systems (ITS) play major role in generating fine grained traffic information. However, in developing countries like India, limited ITS infrastructure is available and city wide manual traffic surveys are the basic source of traffic information. Manual traffic surveys...
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