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Traffic density estimation with vehicular ad hoc networks (VANETs) can facilitate many applications. Traditional density estimation is achieved by counting the number of vehicles occupied in a certain area with inductive loop detectors and cameras, which is applied over limited coverage and brings high cost. In this paper, we propose to fuse vehicle spacing information and and compute average spacing...
The vehicle positioning functionality using global position system (GPS) for intelligent transport system has its inherent limitation because it cannot provide the required accuracy for many safety applications and support any service in areas where a GPS signal is not available. The recently emerging visible light communications (VLC), which uses the visible light source as a signal transmitter,...
Pedestrian detection is an important key problem in Advanced Driver Assistance Systems (ADAS). Un-signalized pedestrian crossing zone are dangerous places, where pedestrians enter the lane suddenly. This is the main factor for most of the accidents. For that, this paper illustrates a machine learning approach for detecting the pedestrian zone and also to detect the pedestrians crossing in that zone...
Automatic Number Plate Detection is the technology which is used to read vehicle number plate from an image containing a still or moving photograph of a vehicle. It is a major breakthrough in the technology which is very helpful for the law enforcements and traffic management authorities. The variation of the plate type and some environmental illuminations are considered in this paper. This technology...
This paper proposes visual-based underwater vehicle docking/homing system under the environment especially simulated for deep sea trial. Instead of measuring absolute position of vehicle using other non-contact sensors, estimation of the robot's relative position and posture (pose) using dual-eyes cameras and 3D target object is proposed. For relative pose estimation, 3D model-based recognition approach...
This paper presents an overview of the Ranger localization system and its constituent technologies and algorithms. Ranger is a high-precision localization system for ground vehicles that performs map-based localization using a ground-facing camera. Ranger uses commercially available hardware, including a camera, lights, and a computer, in combination with auxiliary localization sensors and a custom...
The primary objective of this work is to design a parking guidance system to reliably detect entering/exiting vehicles to a parking garage in a cost-efficient manner. Existing solutions (inductive loops, RFID based systems, and video image processors) at shopping malls, universities, airports etc., are expensive due to high installation and maintenance costs. There is a need for a parking guidance...
This paper presents the control framework under development within the DexROV Horizon 2020 project, for the execution of maintenance and inspection tasks by a semi-autonomous ROV. The work exploits a task priority based kinematic inversion developed by the authors, extending it to encompass also a force regulation task. A way to manage transitions between the different DexROV missions is also given...
Today, in our landscape perception exists a gap that needs to be fulfilled. It's important to increase the coverage, temporal and spatial resolution in order to cover this gap, as well as reduce costs with human resources that usually take this kind of tasks. Unmanned Autonomous vehicles with their inherent autonomy and reduced needs of human and communication resources, can provide additional capabilities...
In large areas of corn, the lane line planning and navigation within the crop rows play a crucial supporting role in intelligent farm machinery operations such as spraying, weeding and testing. Vehicle navigation is mostly by GPS and radar. These two kinds of navigation can't complete the information needed for crop inter-row navigation line segments. Such precision navigation and obstacle avoidance...
Vision system is the important equipment for Unmanned Surface Vehicle (USV) to find obstacles and monitor surrounding environment. There are popular calibration methods for vision system used indoor and outdoor on land. However, the USV has to be transported, hoisted and deployed, and calibrated parameters may be changed in the process. Consequently, it is desired to calibrate the vision system in...
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...
This article describes an algorithm that provides visual odometry estimates from sequential pairs of RGBD images. The key contribution of this article on RGBD odometry is that it provides both an odometry estimate and a covariance for the odometry parameters in real-time via a representative covariance matrix. Accurate, real-time parameter covariance is essential to effectively fuse odometry measurements...
Multiprocessor SoCs (MPSoCs) are deployed in intelligent Rear View Camera Systems (iRVCS) for capture, analytics and display. iRVCS, mounted near the car's exterior surface, are subject to direct sunlight for prolonged time. At high junction temperatures (Tj) iRVCS completely shuts down for thermal protection resulting in complete loss of visibility. The paper focuses on techniques to detect such...
Vehicle detection in real-time from rear-side of a host vehicle is one of important problems in Lane Change Assistance. In this paper, we propose a vision system for real-time vehicle and lane detection and tracking using two cameras, which are equipped under the wing mirror both left and right side. From the input images, EDLines algorithm is used for line segment detection in real-time. According...
The driving assistance technology is an interesting method to increase the safety on the road. By helping the driver to avoid dangerous situations while letting him in charge of the behavior of the vehicle during normal conditions, this kind of system combines both the rapid reactions of an automated system and the human ability to react to unpredictable scenarios. The main demanding aspect of such...
Autonomous underwater vehicles (AUVs) often perform high-resolution survey missions. Such missions are often planned on low resolution bathymetry maps using offline coverage planning methods, e.g., using a standard lawn-mower trajectory that is adapted to the coarse-resolution representation of the terrain. We present in this paper an approach to adapt the exploration online during the mission, namely...
Robust and accurate navigation of underwater vehicles is an essential cornerstone for mission success. Integrative techniques, e.g., using inertial navigation or Doppler velocity logs (DVL), can show significant drift. Even absolute input, such as GNSS input or magnetometers, can either be biased by surrounding structures or very noisy. For good navigation performance in critical maneuvers close to...
In order to enable autonomous flights and to increase the field of application of Micro Aerial Vehicles (MAVs) a new quadrotor with tiltable rotors is developed. This highly non-linear system requires complex algorithms to be controlled. To gain an efficient and robust control algorithm is a key problem concerning autonomous flights. In this article a simple but robust control approach based on control...
Detection of moving and foreground objects is a key step in video-based object tracking within computer vision applications such as surveillance and traffic monitoring. Foreground object detection and segmentation is usually performed based on appearance. Hence, significant detection errors can be incurred due to shadows and light sources. Most existing shadow detection algorithms exploit a large...
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