scholarly journals Real-Time Behaviour Planning and Highway Situation Analysis Concept with Scenario Classification and Risk Estimation for Autonomous Vehicles

Designs ◽  
2019 ◽  
Vol 3 (1) ◽  
pp. 4 ◽  
Author(s):  
Bence Dávid ◽  
Gergő Láncz ◽  
Gergely Hunyady
Keyword(s):  
Decision Making ◽  
Real Time ◽  
Autonomous Vehicles ◽  
Risk Estimation ◽  
Training Data ◽  
Traffic Density ◽  
Support Vector ◽  
Situation Analysis ◽  
Probabilistic Networks ◽  
Time Operation

The development of autonomous vehicles is one of the most active research areas in the automotive industry. The objective of this study is to present a concept for analysing a vehicle’s current situation and a decision-making algorithm which determines an optimal and safe series of manoeuvres to be executed. Our work focuses on a machine learning-based approach by using neural networks for risk estimation, comparing different classification algorithms for traffic density estimation and using probabilistic and decision networks for behaviour planning. A situation analysis is carried out by a traffic density classifier module and a risk estimation algorithm, which predicts risks in a discrete manoeuvre space. For real-time operation, we applied a neural network approach, which approximates the results of the algorithm we used as a ground truth, and a labelling solution for the network’s training data. For the classification of the current traffic density, we used a support vector machine. The situation analysis provides input for the decision making. For this task, we applied probabilistic networks.

SILICON SUPPORT VECTOR MACHINE WITH ON-LINE LEARNING

2003 ◽  
Vol 17 (03) ◽  
pp. 385-404 ◽  
Author(s):  
ROMAN GENOV ◽  
SHANTANU CHAKRABARTTY ◽  
GERT CAUWENBERGHS
Keyword(s):  
Real Time ◽  
Inequality Constraints ◽  
Training Data ◽  
Support Vector ◽  
Svm Classifier ◽  
Operation Performance ◽  
Time Pattern ◽  
Training Scheme ◽  
Time Operation ◽  
On Line

Training of support vector machines (SVMs) amounts to solving a quadratic programming problem over the training data. We present a simple on-line SVM training algorithm of complexity approximately linear in the number of training vectors, and linear in the number of support vectors. The algorithm implements an on-line variant of sequential minimum optimization (SMO) that avoids the need for adjusting select pairs of training coefficients by adjusting the bias term along with the coefficient of the currently presented training vector. The coefficient assignment is a function of the margin returned by the SVM classifier prior to assignment, subject to inequality constraints. The training scheme lends efficiently to dedicated SVM hardware for real-time pattern recognition, implemented using resources already provided for run-time operation. Performance gains are illustrated using the Kerneltron, a massively parallel mixed-signal VLSI processor for kernel-based real-time video recognition.

scholarly journals An Estimation of Ship Collision Risk Based on Relevance Vector Machine

2021 ◽  
Vol 9 (5) ◽  
pp. 538
Author(s):  
Jinwan Park ◽  
Jung-Sik Jeong
Keyword(s):  
Machine Learning ◽  
Decision Making ◽  
Risk Estimation ◽  
Good Method ◽  
Relevance Vector Machine ◽  
Machine Learning Algorithms ◽  
Support Vector ◽  
Collision Risk ◽  
Estimation Model ◽  
Ship Collision

According to the statistics of maritime collision accidents over the last five years (2016–2020), 95% of the total maritime collision accidents are caused by human factors. Machine learning algorithms are an emerging approach in judging the risk of collision among vessels and supporting reliable decision-making prior to any behaviors for collision avoidance. As the result, it can be a good method to reduce errors caused by navigators’ carelessness. This article aims to propose an enhanced machine learning method to estimate ship collision risk and to support more reliable decision-making for ship collision risk. In order to estimate the ship collision risk, the conventional support vector machine (SVM) was applied. Regardless of the advantage of the SVM to resolve the uncertainty problem by using the collected ships’ parameters, it has inherent weak points. In this study, the relevance vector machine (RVM), which can present reliable probabilistic results based on Bayesian theory, was applied to estimate the collision risk. The proposed method was compared with the results of applying the SVM. It showed that the estimation model using RVM is more accurate and efficient than the model using SVM. We expect to support the reasonable decision-making of the navigator through more accurate risk estimation, thus allowing early evasive actions.

scholarly journals Robust hand gesture recognition using multiple shape-oriented visual cues

2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Samy Bakheet ◽  
Ayoub Al-Hamadi
Keyword(s):  
Real Time ◽  
Gesture Recognition ◽  
Pose Estimation ◽  
Depth Map ◽  
Hand Gesture Recognition ◽  
Support Vector ◽  
Hand Gesture ◽  
Hand Pose Estimation ◽  
Time Operation ◽  
Hand Pose

AbstractRobust vision-based hand pose estimation is highly sought but still remains a challenging task, due to its inherent difficulty partially caused by self-occlusion among hand fingers. In this paper, an innovative framework for real-time static hand gesture recognition is introduced, based on an optimized shape representation build from multiple shape cues. The framework incorporates a specific module for hand pose estimation based on depth map data, where the hand silhouette is first extracted from the extremely detailed and accurate depth map captured by a time-of-flight (ToF) depth sensor. A hybrid multi-modal descriptor that integrates multiple affine-invariant boundary-based and region-based features is created from the hand silhouette to obtain a reliable and representative description of individual gestures. Finally, an ensemble of one-vs.-all support vector machines (SVMs) is independently trained on each of these learned feature representations to perform gesture classification. When evaluated on a publicly available dataset incorporating a relatively large and diverse collection of egocentric hand gestures, the approach yields encouraging results that agree very favorably with those reported in the literature, while maintaining real-time operation.

Abstract 1122‐000047: Machine Learning to Predict Stroke Outcomes after Mechanical Thrombectomy

2021 ◽  
Vol 1 (S1) ◽  
Author(s):  
Mehdi Bouslama ◽  
Leonardo Pisani ◽  
Diogo Haussen ◽  
Raul Nogueira
Keyword(s):  
Machine Learning ◽  
Decision Making ◽  
Cerebral Artery ◽  
Training Data ◽  
Gradient Boosting ◽  
Support Vector ◽  
Anterior Circulation ◽  
Discriminative Performance ◽  
Post Procedure ◽  
Procedural Models

Introduction : Prognostication is an integral part of clinical decision‐making in stroke care. Machine learning (ML) methods have gained increasing popularity in the medical field due to their flexibility and high performance. Using a large comprehensive stroke center registry, we sought to apply various ML techniques for 90‐day stroke outcome predictions after thrombectomy. Methods : We used individual patient data from our prospectively collected thrombectomy database between 09/2010 and 03/2020. Patients with anterior circulation strokes (Internal Carotid Artery, Middle Cerebral Artery M1, M2, or M3 segments and Anterior Cerebral Artery) and complete records were included. Our primary outcome was 90‐day functional independence (defined as modified Rankin Scale score 0–2). Pre‐ and post‐procedure models were developed. Four known ML algorithms (support vector machine, random forest, gradient boosting, and artificial neural network) were implemented using a 70/30 training‐test data split and 10‐fold cross‐validation on the training data for model calibration. Discriminative performance was evaluated using the area under the receiver operator characteristics curve (AUC) metric. Results : Among 1248 patients with anterior circulation large vessel occlusion stroke undergoing thrombectomy during the study period, 1020 had complete records and were included in the analysis. In the training data (n = 714), 49.3% of the patients achieved independence at 90‐days. Fifteen baseline clinical, laboratory and neuroimaging features were used to develop the pre‐procedural models, with four additional parameters included in the post‐procedure models. For the preprocedural models, the highest AUC was 0.797 (95%CI [0.75‐ 0.85]) for the gradient boosting model. Similarly, the same ML technique performed best on post‐procedural data and had an improved discriminative performance compared to the pre‐procedure model with an AUC of 0.82 (95%CI [0.77‐ 0.87]). Conclusions : Our pre‐and post‐procedural models reliably estimated outcomes in stroke patients undergoing thrombectomy. They represent a step forward in creating simple and efficient prognostication tools to aid treatment decision‐making. A web‐based platform and related mobile app are underway.

scholarly journals CAESNet: Convolutional AutoEncoder based Semi-supervised Network for improving multiclass classification of endomicroscopic images

2019 ◽  
Vol 26 (11) ◽  
pp. 1286-1296 ◽  
Author(s):  
Li Tong ◽  
Hang Wu ◽  
May D Wang
Keyword(s):  
Decision Making ◽  
Real Time ◽  
Barrett’S Esophagus ◽  
Barrett's Esophagus ◽  
Multiclass Classification ◽  
Semisupervised Learning ◽  
Training Data ◽  
Confocal Laser Endomicroscopy ◽  
Convolutional Autoencoder

Abstract Objective This article presents a novel method of semisupervised learning using convolutional autoencoders for optical endomicroscopic images. Optical endomicroscopy (OE) is a newly emerged biomedical imaging modality that can support real-time clinical decisions for the grade of dysplasia. To enable real-time decision making, computer-aided diagnosis (CAD) is essential for its high speed and objectivity. However, traditional supervised CAD requires a large amount of training data. Compared with the limited number of labeled images, we can collect a larger number of unlabeled images. To utilize these unlabeled images, we have developed a Convolutional AutoEncoder based Semi-supervised Network (CAESNet) for improving the classification performance. Materials and Methods We applied our method to an OE dataset collected from patients undergoing endoscope-based confocal laser endomicroscopy procedures for Barrett’s esophagus at Emory Hospital, which consists of 429 labeled images and 2826 unlabeled images. Our CAESNet consists of an encoder with 5 convolutional layers, a decoder with 5 transposed convolutional layers, and a classification network with 2 fully connected layers and a softmax layer. In the unsupervised stage, we first update the encoder and decoder with both labeled and unlabeled images to learn an efficient feature representation. In the supervised stage, we further update the encoder and the classification network with only labeled images for multiclass classification of the OE images. Results Our proposed semisupervised method CAESNet achieves the best average performance for multiclass classification of OE images, which surpasses the performance of supervised methods including standard convolutional networks and convolutional autoencoder network. Conclusions Our semisupervised CAESNet can efficiently utilize the unlabeled OE images, which improves the diagnosis and decision making for patients with Barrett’s esophagus.

scholarly journals A Novel Changing Athlete Body Real-Time Visual Tracking Algorithm Based on Distractor-Aware SiamRPN and HOG-SVM

Electronics ◽  
2020 ◽  
Vol 9 (2) ◽  
pp. 378 ◽  
Author(s):  
Mingwei Sheng ◽  
Weizhe Wang ◽  
Hongde Qin ◽  
Lei Wan ◽  
Jun Li ◽  
...  
Keyword(s):  
Real Time ◽  
Large Data ◽  
Video Frame ◽  
Support Vector ◽  
Key Frame ◽  
Histograms Of Oriented Gradients ◽  
Time Operation ◽  
Haar Feature ◽  
Real Time Operation ◽  
Detection Window

Athlete detection in sports videos is a challenging task due to the dynamic and cluttered background. Distractor-aware SiamRPN (DaSiamRPN) has a simple network structure and can be utilized to perform long-term tracking of large data sets. However, similarly to the Siamese network, the tracking results heavily rely on the given position in the initial frame. Hence, there is a lack of solutions for some complex tracking scenarios, such as running and changing of bodies of athletes, especially in the stage from squatting to standing to running. The Haar feature-based cascade classifier is involved to catch the key frame, representing the video frame of the most dramatic changes of the athletes. DaSiamRPN is implemented as the tracking method. In each frame after the key frame, a detection window is given based on the bounding box generated by the DaSiamRPN tracker. In the new detection window, a fusion method (HOG-SVM) combining features of Histograms of Oriented Gradients (HOG) and a linear Support-Vector Machine (SVM) is proposed for detecting the athlete, and the tracking results are updated in real-time by fusing the tracking results of DaSiamRPN and HOG-SVM. Our proposed method has reached a stable and accurate tracking effect in testing on men’s 100 m video sequences and has realized real-time operation.

SVM-BASED PHONEME CLASSIFICATION AND LIP SHAPE REFINEMENT IN REAL-TIME LIP-SYNCH SYSTEM

2006 ◽  
Vol 20 (07) ◽  
pp. 1029-1051 ◽  
Author(s):  
HANSEOK KO ◽  
DAVID K. HAN
Keyword(s):  
Real Time ◽  
Processing Time ◽  
Support Vector ◽  
Mel Frequency Cepstral Coefficients ◽  
Phoneme Classification ◽  
Second Stage ◽  
Single Frame ◽  
Time Operation ◽  
Real Time Operation ◽  
Coarse To Fine

In this paper, we present a real time lip-synch system that activates 2-D avatar's lip motion in synch with incoming speech utterance. To achieve the real time operation of the system, the processing time was minimized by "merge and split" procedures resulting in coarse-to-fine phoneme classification. At each stage of phoneme classification, the support vector machine (SVM) method was applied to reduce the computational load while maintaining the desired accuracy. The coarse-to-fine phoneme classification, is accomplished via two_stages of feature extraction: in the first stage, each speech frame is acoustically analyzed for three classes of lip opening using Mel Frequency Cepstral Coefficients (MFCC) as a feature; in the second stage, each frame is further refined for detailed lip shape using formant information. The method was implemented in 2-D lip animation and it was demonstrated that the system was effective in accomplishing real-time lip-synch. This approach was tested on a PC using the Microsoft Visual Studio with an Intel Pentium IV 1.4 Giga Hz CPU and 384 MB RAM. It was observed that the methods of phoneme merging and SVM achieved about twice the speed in recognition than the method employing the Hidden Markov Model (HMM). A typical latency time per a single frame observed using the proposed method was in the order of 18.22 milliseconds while an HMM method under identical conditions resulted about 30.67 milliseconds.

scholarly journals Multi-Objective Model Predictive Control for Real-Time Operation of a Multi-Reservoir System

Water ◽  
2020 ◽  
Vol 12 (7) ◽  
pp. 1898 ◽  
Author(s):  
Nay Myo Lin ◽  
Xin Tian ◽  
Martine Rutten ◽  
Edo Abraham ◽  
José M. Maestre ◽  
...  
Keyword(s):  
Decision Making ◽  
Model Predictive Control ◽  
Real Time ◽  
Predictive Control ◽  
Nsga Ii ◽  
Multi Objective ◽  
Reservoir System ◽  
Time Operation ◽  
Real Time Operation ◽  
Objective Model

This paper presents an extended Model Predictive Control scheme called Multi-objective Model Predictive Control (MOMPC) for real-time operation of a multi-reservoir system. The MOMPC approach incorporates the non-dominated sorting genetic algorithm II (NSGA-II), multi-criteria decision making (MCDM) and the receding horizon principle to solve a multi-objective reservoir operation problem in real time. In this study, a water system is simulated using the De Saint Venant equations and the structure flow equations. For solving multi-objective optimization, NSGA-II is used to find the Pareto-optimal solutions for the conflicting objectives and a control decision is made based on multiple criteria. Application is made to an existing reservoir system in the Sittaung river basin in Myanmar, where the optimal operation is required to compromise the three operational objectives. The control objectives are to minimize the storage deviations in the reservoirs, to minimize flood risks at a downstream vulnerable place and to maximize hydropower generation. After finding a set of candidate solutions, a couple of decision rules are used to access the overall performance of the system. In addition, the effect of the different decision-making methods is discussed. The results show that the MOMPC approach is applicable to support the decision-makers in real-time operation of a multi-reservoir system.

scholarly journals Real-Time Parameter Estimation of a Nonlinear Vessel Steering Model Using a Support Vector Machine

2019 ◽  
Vol 141 (6) ◽  
Author(s):  
Haitong Xu ◽  
M. A. Hinostroza ◽  
Vahid Hassani ◽  
C. Guedes Soares
Keyword(s):  
Support Vector Machine ◽  
Real Time ◽  
Time Parameter ◽  
Least Square ◽  
Training Data ◽  
Support Vector ◽  
Dynamic Parameters ◽  
Ship Model ◽  
Free Running ◽  
Marine Vessels

The least-square support vector machine (LS-SVM) is used to estimate the dynamic parameters of a nonlinear marine vessel steering model in real-time. First, maneuvering tests are carried out based on a scaled free-running ship model. The parameters are estimated using standard LS-SVM and compared with the theoretical solutions. Then, an online version, a sequential least-square support vector machine, is derived and used to estimate the parameters of vessel steering in real-time. The results are compared with the values estimated by standard LS-SVM with batched training data. By comparison, a sequential least-square support vector machine can dynamically estimate the parameters successfully, and it can be used for designing a dynamic model-based controller of marine vessels.

Parallel SMO for Traffic Flow Forecasting

2010 ◽  
Vol 20-23 ◽  
pp. 843-848 ◽  
Author(s):  
Fan Wang ◽  
Guo Zhen Tan ◽  
Chao Deng
Keyword(s):  
Real Time ◽  
Traffic Flow ◽  
Intelligent Transportation Systems ◽  
Good Method ◽  
Transportation Systems ◽  
Training Data ◽  
Support Vector ◽  
Training Time ◽  
The Real ◽  
Traffic Flow Forecasting

Accurate traffic flow forecasting is crucial to the development of intelligent transportation systems and advanced traveler information systems. Since Support Vector Machine (SVM)have better generalization performance and can guarantee global minima for given training data, it is believed that SVR is an effective method in traffic flow forecasting. But with the sharp increment of traffic data, traditional serial SVM can not meet the real-time requirements of traffic flow forecasting. Parallel processing has been proved to be a good method to reduce training time. In this paper, we adopt a parallel sequential minimal optimization (Parallel SMO) method to train SVM in multiple processors. Our experimental and analytical results demonstrate this model can reduce training time, enhance speed-up ratio and efficiency and better satisfy the real-time demands of traffic flow forecasting.

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