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Suppose we are given an autonomous vehicle that has limitations, meaning that it may need to transfer control back to the human driver to guarantee safety in certain situations. This paper presents work on designing a user interface to assist this hand off by considering the effects of the expression of internal and external awareness. Internal awareness is the concept of knowing whether or not the...
This paper presents a vehicle navigation system that is capable of achieving sub-meter GPS-denied navigation accuracy in large-scale urban environments, using pre-mapped visual landmarks. Our navigation system tightly couples IMU data with local feature track measurements, and fuses each observation of a pre-mapped visual landmark as a single global measurement. This approach propagates precise 3D...
The purpose of present study was to examine the intelligence system for evaluation the multi-dimension abilities for occupational bus drivers. Intelligence system involved the cognition abilities test, visual pursuit abilities test, and tachistoscopic traffic responses test. Results of stidy showed that gender and age had significant relationships to cognitive responses and visual tracking capabilities...
Safety and acceptability are main concerns in the design of driver assistance system. In fact, these two requirements sometimes may conflict with each other depending on e situation and driver. This conflict is more emphasized particularly in the case of considering elderly driver. In order to solve this problem, this paper proposes a new driver-vehicle cooperation scheme, a ‘supervisory cooperation...
Highly accurate digital road maps are the status quo for advanced driver assistance systems and automated driving functions. To achieve high map accuracies, recent approaches deployed high-cost and high-precision sensor systems. This paper proposes a novel automated map generation framework for standardized high-velocity roads using a low-cost sensor system composed of a monocular camera and a low-precision...
Performance measures and adaptive control methodologies for traffic signal systems currently require intersections to be instrumented with vehicle detectors and communication equipment, which can require substantial engineering resources to deploy and maintain. Recent studies have explored the use of Connected Vehicle (CV) data for signal performance measures at various levels of market penetration,...
This paper presents an approach of human-vehicle cooperative navigation system as an implementation of Advanced Driving Assistance Systems (ADAS). The driver-in-the-loop system contains commands by a human driver, which are verified and corrected by the interactive navigation algorithm based on Image-based Dynamic Window Approach (IDWA). Several autonomous driving components are involved including...
As one of research directions of Intelligent Transportation System (ITS), Cooperative Vehicle Infrastructure System (CVIS) has attracted the attention of domestic and foreign researchers. CVIS is a complex large system, so it is very necessary to simulate and verify the system before put it into use. In this paper, the traffic simulation environment is built, including road network, vehicles, city...
This paper is about underpinning long-term operations of fleets of vehicles using visual localisation. In particular it examines ways in which vehicles, considered as independent agents, can share, update and leverage each others' visual experiences in a mutually beneficial way. We draw on our previous work in Experience-based Navigation (EBN) [1], in which a visual map supporting multiple representations...
Real-time obstacle detection is a key component of autonomous vehicles. In this context, low obstacles are particularly challenging, as they are often discarded by traditional algorithms. Curb detection methods that can potentially be suitable for the problem usually target roads with clearly defined curbs and sidewalks. We propose a real-time algorithm for the detection of low obstacles (including,...
We address the important problem of achieving robust and easy-to-deploy visual state estimation for micro aerial vehicles (MAVs) operating in complex environments. We use a sensor suite consisting of multiple cameras and an IMU to maximize perceptual awareness of the surroundings and provide sufficient redundancy against sensor failures. Our approach starts with an online initialization procedure...
This paper presents an online optimization-based approach to compute trajectories to enable substitution of robots in formation-based deployments with durations that exceed the energy capacity of individual systems. The proposed algorithm computes trajectories in a multi-robot context to ensure a collision-free exchange, even where congestion is a concern. The quality of the resulting trajectories...
In this paper, we present an online landmark selection method for distributed long-term visual localization systems in bandwidth-constrained environments. Sharing a common map for online localization provides a fleet of autonomous vehicles with the possibility to maintain and access a consistent map source, and therefore reduce redundancy while increasing efficiency. However, connectivity over a mobile...
In recent years, location-based services and indoor positioning systems gained increasing importance for both, research and industry. Visual localization systems have the advantage of not being dependent on dedicated infrastructure and thus are especially interesting for navigation within buildings. While there are already approaches of using pre-recorded databases of reference images to obtain an...
There are many ideas to enhance the safety riding. Advanced Driver Assistance System (ADAS) is a system to help the driver more safety. ADAS has a purpose to assist and direct the driver in order to improve traffic safety. Traffic sign recognition is one important part of ADAS. Traffic sign is a warning sign which placed at the side or above the road to provide detail road information to the driver...
A driver's inattention to or disregard for the minimum safety distance creates a hazardous situation in which avoiding a rear-end collision is nearly impossible. In a joint effort to implement safety and decision-making processes at an individual level, we present in this paper a cooperative approach to increase the driver's visual awareness of safe distances. Our Tailigator system garners information...
Many driver models assume that a human driver can be modeled as a linear time-invariant system. Although during specific execution tasks this can be a reasonably good model, in general, this is an unrealistic and quite restrictive assumption for most real-life situations where more complex cognitive functions need to be evoked, such as long-term, deliberative planning, prioritization among several...
Autonomous emergency braking systems have been already introduced to the markets, and have good driver acceptance in terms of the functions of such system. However, such system reaches its limit when there are unexpected moving obstacles appearing suddenly from poor visibility area, such as a space behind a parked vehicle. This paper describes a shared control in risk predictive braking manoeuvre...
In the development of advanced driver-assist systems (ADAS) for lane-keeping, one important design objective is to appropriately share the steering control with the driver. Hence, the steering behavior of the driver must be well known beforehand. This paper adopts the well-known two-point visual driver model to characterize the steering behavior of the driver, and conducts a series of field tests...
Using an experimental approach, this paper proposes a semi-autonomous agent architecture for a remotely operated vehicle (ROV). The system is inspired by Behavior- and Reactive-based architectures using stimulus response blocks to segment behavior. The capability and limitations of the system is demonstrated through a field experiment, where the goal is to approach and localize a structure of interest...
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