scholarly journals Parking Line Based SLAM Approach Using AVM/LiDAR Sensor Fusion for Rapid and Accurate Loop Closing and Parking Space Detection

Sensors ◽  
2019 ◽  
Vol 19 (21) ◽  
pp. 4811 ◽  
Author(s):  
Gyubeom Im ◽  
Minsung Kim ◽  
Jaeheung Park
Keyword(s):  
Real Time ◽  
Sensor Fusion ◽  
Autonomous Vehicles ◽  
Large Scale ◽  
Outdoor Environment ◽  
Parking Space ◽  
Parking Space Detection ◽  
Localization Performance ◽  
Line Features ◽  
Loop Closing

Parking is a challenging task for autonomous vehicles and requires a centimeter level precision of distance measurement for safe parking at a destination to avoid collisions with nearby vehicles. In order to avoid collisions with parked vehicles while parking, real-time localization performance should be maintained even when loop closing occurs. This study proposes a simultaneous localization and mapping (SLAM) method, using around view monitor (AVM)/light detection and ranging (LiDAR) sensor fusion, that provides rapid loop closing performance. We extract the parking line features by utilizing the sensor fusion data for sparse feature-based pose graph optimization that boosts the loop closing speed. Hence, the proposed method can perform the loop closing within a few milliseconds to compensate for the accumulative errors even in a large-scale outdoor environment, which is much faster than other LiDAR-based SLAM algorithms. Therefore, it easily satisfies real-time localization performance. Furthermore, thanks to the parking line features, the proposed method can detect a parking space by utilizing the accumulated parking lines in the map. The experiment was performed in three outdoor parking lots to validate the localization performance and parking space detection performance. All of the proposed methods can be operated in real-time in a single-CPU environment.

Parking Space Detection based on Camera and LIDAR Sensor Fusion

2019 ◽  
Vol 14 (3) ◽  
pp. 170-178
Author(s):  
Kyujin Park ◽  
◽  
Gyubeom Im ◽  
Minsung Kim ◽  
Jaeheung Park
Keyword(s):  
Sensor Fusion ◽  
Parking Space ◽  
Parking Space Detection

scholarly journals High precision positioning system for autopilot based on multi-sensor fusion

2021 ◽  
Vol 257 ◽  
pp. 02061
Author(s):  
Haoru Luo ◽  
Kechun Liu
Keyword(s):  
Real Time ◽  
Sensor Fusion ◽  
High Precision ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Positioning System ◽  
Signal Loss ◽  
Automatic Driving ◽  
Core Technology ◽  
Positioning Method

For autonomous vehicles, autonomous positioning is a core technology in their development. A good positioning system not only helps them efficiently complete autonomous operations, but also improves safety performance. At present, the use of global positioning system (GPS) is a more mainstream positioning method, but in indoor, serious shelter and other environments, GPS signal loss will lead to positioning failure. In order to solve this problem, this paper proposes a method of mapping before positioning, and designs a set of high precision real-time positioning system by combining the technology of multi-sensor fusion. The designed system was carried on a Wuling sightseeing bus, and the mapping and positioning tests were carried out in the Nanhu Campus of Wuhan University of Technology, the East Campus of Mafangshan Campus and the underground garage where GPS signals were lost. The test results show that the system can realize the high precision real-time positioning function of the autonomous vehicle. Therefore, the in-depth study and implementation of this system is of great significance to the promotion and application of the automatic driving industry.

scholarly journals Real-Time Hybrid Multi-Sensor Fusion Framework for Perception in Autonomous Vehicles

Sensors ◽  
2019 ◽  
Vol 19 (20) ◽  
pp. 4357 ◽  
Author(s):  
Babak Shahian Jahromi ◽  
Theja Tulabandhula ◽  
Sabri Cetin
Keyword(s):  
Real Time ◽  
Sensor Fusion ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Obstacle Detection ◽  
Sensor Data ◽  
Detection Accuracy ◽  
System Solution ◽  
Environment Perception ◽  
Fusion Framework

There are many sensor fusion frameworks proposed in the literature using different sensors and fusion methods combinations and configurations. More focus has been on improving the accuracy performance; however, the implementation feasibility of these frameworks in an autonomous vehicle is less explored. Some fusion architectures can perform very well in lab conditions using powerful computational resources; however, in real-world applications, they cannot be implemented in an embedded edge computer due to their high cost and computational need. We propose a new hybrid multi-sensor fusion pipeline configuration that performs environment perception for autonomous vehicles such as road segmentation, obstacle detection, and tracking. This fusion framework uses a proposed encoder-decoder based Fully Convolutional Neural Network (FCNx) and a traditional Extended Kalman Filter (EKF) nonlinear state estimator method. It also uses a configuration of camera, LiDAR, and radar sensors that are best suited for each fusion method. The goal of this hybrid framework is to provide a cost-effective, lightweight, modular, and robust (in case of a sensor failure) fusion system solution. It uses FCNx algorithm that improve road detection accuracy compared to benchmark models while maintaining real-time efficiency that can be used in an autonomous vehicle embedded computer. Tested on over 3K road scenes, our fusion algorithm shows better performance in various environment scenarios compared to baseline benchmark networks. Moreover, the algorithm is implemented in a vehicle and tested using actual sensor data collected from a vehicle, performing real-time environment perception.

scholarly journals Real-Time Terrain Storage Generation from Multiple Sensors towards Mobile Robot Operation Interface

2014 ◽  
Vol 2014 ◽  
pp. 1-12
Author(s):  
Wei Song ◽  
Seoungjae Cho ◽  
Yulong Xi ◽  
Kyungeun Cho ◽  
Kyhyun Um
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Large Scale ◽  
Graphics Processing Unit ◽  
Point Clouds ◽  
Outdoor Environment ◽  
Processing Unit ◽  
Multiple Sensors ◽  
3D Point Clouds ◽  
Video Images

A mobile robot mounted with multiple sensors is used to rapidly collect 3D point clouds and video images so as to allow accurate terrain modeling. In this study, we develop a real-time terrain storage generation and representation system including a nonground point database (PDB), ground mesh database (MDB), and texture database (TDB). A voxel-based flag map is proposed for incrementally registering large-scale point clouds in a terrain model in real time. We quantize the 3D point clouds into 3D grids of the flag map as a comparative table in order to remove the redundant points. We integrate the large-scale 3D point clouds into a nonground PDB and a node-based terrain mesh using the CPU. Subsequently, we program a graphics processing unit (GPU) to generate the TDB by mapping the triangles in the terrain mesh onto the captured video images. Finally, we produce a nonground voxel map and a ground textured mesh as a terrain reconstruction result. Our proposed methods were tested in an outdoor environment. Our results show that the proposed system was able to rapidly generate terrain storage and provide high resolution terrain representation for mobile mapping services and a graphical user interface between remote operators and mobile robots.

scholarly journals A Distributed Approach to Speaker Count Problem in an Open-Set Scenario by Clustering Pitch Features

Information ◽  
2021 ◽  
Vol 12 (4) ◽  
pp. 157
Author(s):  
Sakshi Pandey ◽  
Amit Banerjee
Keyword(s):  
Real Time ◽  
Large Scale ◽  
Geographical Area ◽  
Outdoor Environment ◽  
Average Error ◽  
Indoor Environments ◽  
Learning Approaches ◽  
Distributed Approach ◽  
Open Set ◽  
Error Count

Counting the number of speakers in an audio sample can lead to innovative applications, such as a real-time ranking system. Researchers have studied advanced machine learning approaches for solving the speaker count problem. However, these solutions are not efficient in real-time environments, as it requires pre-processing of a finite set of data samples. Another approach for solving the problem is via unsupervised learning or by using audio processing techniques. The research in this category is limited and does not consider the large-scale open set environment. In this paper, we propose a distributed clustering approach to address the speaker count problem. The separability of the speaker is computed using statistical pitch parameters. The proposed solution uses multiple microphones available in smartphones in a large geographical area to capture and extract statistical pitch features from the audio samples. These features are shared between the nodes to estimate the number of speakers in the neighborhood. One of the major challenges is to reduce the error count that arises due to the proximity of the users and multiple microphones. We evaluate the algorithm’s performance using real smartphones in a multi-group arrangement by capturing parallel conversations between the users in both indoor and outdoor scenarios. The average error count distance is 1.667 in a multi-group scenario. The average error count distances in indoor environments are 16% which is better than in the outdoor environment.

scholarly journals On-demand high-capacity ride-sharing via dynamic trip-vehicle assignment

2017 ◽  
Vol 114 (3) ◽  
pp. 462-467 ◽  
Author(s):  
Javier Alonso-Mora ◽  
Samitha Samaranayake ◽  
Alex Wallar ◽  
Emilio Frazzoli ◽  
Daniela Rus
Keyword(s):  
New York ◽  
Real Time ◽  
Autonomous Vehicles ◽  
Large Scale ◽  
High Capacity ◽  
Fleet Size ◽  
Ride Sharing ◽  
Large Numbers ◽  
General Mathematical Model ◽  
Travel Delay

Ride-sharing services are transforming urban mobility by providing timely and convenient transportation to anybody, anywhere, and anytime. These services present enormous potential for positive societal impacts with respect to pollution, energy consumption, congestion, etc. Current mathematical models, however, do not fully address the potential of ride-sharing. Recently, a large-scale study highlighted some of the benefits of car pooling but was limited to static routes with two riders per vehicle (optimally) or three (with heuristics). We present a more general mathematical model for real-time high-capacity ride-sharing that (i) scales to large numbers of passengers and trips and (ii) dynamically generates optimal routes with respect to online demand and vehicle locations. The algorithm starts from a greedy assignment and improves it through a constrained optimization, quickly returning solutions of good quality and converging to the optimal assignment over time. We quantify experimentally the tradeoff between fleet size, capacity, waiting time, travel delay, and operational costs for low- to medium-capacity vehicles, such as taxis and van shuttles. The algorithm is validated with ∼3 million rides extracted from the New York City taxicab public dataset. Our experimental study considers ride-sharing with rider capacity of up to 10 simultaneous passengers per vehicle. The algorithm applies to fleets of autonomous vehicles and also incorporates rebalancing of idling vehicles to areas of high demand. This framework is general and can be used for many real-time multivehicle, multitask assignment problems.

scholarly journals Sustainable Renewal Methods of Urban Public Parking Spaces under the Scenario of Shared Autonomous Vehicles (SAV): A Review and A Proposal

2021 ◽  
Vol 13 (7) ◽  
pp. 3629
Author(s):  
Bing Xia ◽  
Jindong Wu ◽  
Jiaqi Wang ◽  
Yitao Fang ◽  
Haodi Shen ◽  
...  
Keyword(s):  
Urban Space ◽  
Autonomous Vehicles ◽  
Large Scale ◽  
Reference Value ◽  
Urban Morphology ◽  
Policy Implications ◽  
Parking Space ◽  
Demand Forecast ◽  
Operation Rate ◽  
Series Evaluation

Shared autonomous vehicles (SAVs) will be an important force to in reshaping urban morphology. The high operation rate and sharing degree of SAV are considered to result in a great reduction in parking area in future cities. Parking space is now a huge and widely distributed urban stock space type, which is bound to become a major challenge and opportunity for sustainable urban renewal in the digital era. Based on the SAV scenario, this paper reviews the current research on the sustainable renewal of urban public parking spaces, and proposes the four key issues involved: how much to renew (i.e., demand forecast analysis), when to renew (i.e., update time series evaluation), what to renew (i.e., function replacement decision) and how to update (i.e., design empirical research). Furthermore, it puts forward a preliminary idea on, and constructs a research framework for, the sustainable renewal methods of parking space under the SAV scenario. Finally, the theoretical, practical and policy implications of the research on sustainable renewal methods of urban public parking space are discussed. It will have great reference value for the redevelopment and reuse of the urban space types including fragmented, widely distributed and large-scale.

An Open Multi-Sensor Fusion Toolbox for Autonomous Vehicles

2020 ◽  
Vol E103.A (1) ◽  
pp. 252-264
Author(s):  
Abraham MONRROY CANO ◽  
Eijiro TAKEUCHI ◽  
Shinpei KATO ◽  
Masato EDAHIRO
Keyword(s):  
Sensor Fusion ◽  
Autonomous Vehicles

Methods for the Quantification of Salivary Cortisol and of a-amylase in Biosensors and Portable Devices

2018 ◽  
Vol 68 (12) ◽  
pp. 2857-2859
Author(s):  
Cristina Mihaela Ghiciuc ◽  
Andreea Silvana Szalontay ◽  
Luminita Radulescu ◽  
Sebastian Cozma ◽  
Catalina Elena Lupusoru ◽  
...  
Keyword(s):  
Real Time ◽  
Medical Practice ◽  
Salivary Cortisol ◽  
Clinical Studies ◽  
Large Scale ◽  
Psychological Research ◽  
Portable Devices ◽  
Salivary Amylase ◽  
Specificity And Sensitivity

There is an increasing interest in the analysis of salivary biomarkers for medical practice. The objective of this article was to identify the specificity and sensitivity of quantification methods used in biosensors or portable devices for the determination of salivary cortisol and salivary a-amylase. There are no biosensors and portable devices for salivary amylase and cortisol that are used on a large scale in clinical studies. These devices would be useful in assessing more real-time psychological research in the future.

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