scholarly journals Free-Resolution Probability Distributions Map-Based Precise Vehicle Localization in Urban Areas

Sensors ◽  
2020 ◽  
Vol 20 (4) ◽  
pp. 1220 ◽  
Author(s):  
Kyu-Won Kim ◽  
Gyu-In Jee
Keyword(s):  
Probability Distribution ◽  
Urban Areas ◽  
Probability Distributions ◽  
Free Resolution ◽  
Gaussian Mixture ◽  
Vehicle Localization ◽  
Distribution Maps ◽  
The Road ◽  
Position Errors ◽  
Feature Point Matching

We propose a free-resolution probability distributions map (FRPDM) and an FRPDM-based precise vehicle localization method using 3D light detection and ranging (LIDAR). An FRPDM is generated by Gaussian mixture modeling, based on road markings and vertical structure point cloud. Unlike single resolution or multi-resolution probability distribution maps, in the case of the FRPDM, the resolution is not fixed and the object can be represented by various sizes of probability distributions. Thus, the shape of the object can be represented efficiently. Therefore, the map size is very small (61 KB/km) because the object is effectively represented by a small number of probability distributions. Based on the generated FRPDM, point-to-probability distribution scan matching and feature-point matching were performed to obtain the measurements, and the position and heading of the vehicle were derived using an extended Kalman filter-based navigation filter. The experimental area is the Gangnam area of Seoul, South Korea, which has many buildings around the road. The root mean square (RMS) position errors for the lateral and longitudinal directions were 0.057 m and 0.178 m, respectively, and the RMS heading error was 0.281°.

Analysis of Pedestrian Road Crossing Behaviour in Urban Areas

2014 ◽  
Vol 5 (2) ◽  
pp. 40-55
Author(s):  
Eleonora Papadimitriou ◽  
George Yannis ◽  
John Golias
Keyword(s):  
Urban Areas ◽  
Field Survey ◽  
Probability Distributions ◽  
Traffic Volume ◽  
The Road ◽  
Traffic Conditions ◽  
Important Interaction ◽  
In The Beginning ◽  
Pedestrian Crossing ◽  
Road Crossing

The objective of this research is the analysis of pedestrians behaviour along entire trips in urban road networks, with focus on their interaction with the traffic and the road environment while crossing roads. For this purpose, a special field survey was designed and carried out, which involved the recording of pedestrians road crossing behaviour along entire trips in real time by means of camera in motion at the centre of Athens, Greece. Based on the results of the field survey, an analysis of road crossing behaviour of pedestrians is presented, concerning characteristics of the trips, the pedestrians, the road environment and the traffic conditions. The results indicate that basic parameters of pedestrian trips (i.e. trip length, walking speed, number of crossings) can be described by appropriate probability distributions. They also reveal a tendency of pedestrians to cross either in the beginning or in the end of the trip, an increased probability of crossing at signalized junctions when these are available, and increased probability of crossing at mid-block in low traffic volume and on one-way roads. Furthermore, there is an overall tendency of pedestrians cross to at mid-block when the road and traffic conditions are favourable. On the contrary, more traffic lanes and increased traffic volume appear to discourage pedestrians from accepting important interaction with the vehicles and to lead them towards the choice of protected crossing locations. The proposed data collection method and the results of the analysis can be exploited in further research for the development of models of pedestrian crossing behaviour along entire trips in urban areas.

Analysis of Pedestrian Road Crossing Behaviour in Urban Areas

2015 ◽  
pp. 1164-1179
Author(s):  
Eleonora Papadimitriou ◽  
George Yannis ◽  
John Golias
Keyword(s):  
Urban Areas ◽  
Field Survey ◽  
Probability Distributions ◽  
Traffic Volume ◽  
The Road ◽  
Traffic Conditions ◽  
Basic Parameters ◽  
In The Beginning ◽  
Pedestrian Crossing ◽  
Road Crossing

The objective of this research is the analysis of pedestrians behaviour along entire trips in urban road networks, with focus on their interaction with the traffic and the road environment while crossing roads. For this purpose, a special field survey was designed and carried out, which involved the recording of pedestrians road crossing behaviour along entire trips in real time by means of camera in motion at the centre of Athens, Greece. Based on the results of the field survey, an analysis of road crossing behaviour of pedestrians is presented, concerning characteristics of the trips, the pedestrians, the road environment and the traffic conditions. The results indicate that basic parameters of pedestrian trips (i.e. trip length, walking speed, number of crossings) can be described by appropriate probability distributions. They also reveal a tendency of pedestrians to cross either in the beginning or in the end of the trip, an increased probability of crossing at signalized junctions when these are available, and increased probability of crossing at mid-block in low traffic volume and on one-way roads. Furthermore, there is an overall tendency of pedestrians cross to at mid-block when the road and traffic conditions are favourable. On the contrary, more traffic lanes and increased traffic volume appear to discourage pedestrians from accepting important interaction with the vehicles and to lead them towards the choice of protected crossing locations. The proposed data collection method and the results of the analysis can be exploited in further research for the development of models of pedestrian crossing behaviour along entire trips in urban areas.

scholarly journals Project ARES: Driverless Transportation System. Challenges and Approaches in an Unstructured Road

Electronics ◽  
2021 ◽  
Vol 10 (15) ◽  
pp. 1753
Author(s):  
Pablo Marin-Plaza ◽  
David Yagüe ◽  
Francisco Royo ◽  
Miguel Ángel de Miguel ◽  
Francisco Miguel Moreno ◽  
...  
Keyword(s):  
Urban Areas ◽  
Autonomous Vehicles ◽  
Smart Cities ◽  
Autonomous Vehicle ◽  
Autonomous Driving ◽  
Vehicle Localization ◽  
Transport Efficiency ◽  
The Road ◽  
Operational Design ◽  
Low Coverage

The expansion of electric vehicles in urban areas has paved the way toward the era of autonomous vehicles, improving the performance in smart cities and upgrading related driving problems. This field of research opens immediate applications in the tourism areas, airports or business centres by greatly improving transport efficiency and reducing repetitive human tasks. This project shows the problems derived from autonomous driving such as vehicle localization, low coverage of 4G/5G and GPS, detection of the road and navigable zones including intersections, detection of static and dynamic obstacles, longitudinal and lateral control and cybersecurity aspects. The approaches proposed in this article are sufficient to solve the operational design of the problems related to autonomous vehicle application in the special locations such as rough environment, high slopes and unstructured terrain without traffic rules.

scholarly journals Analysis of Pedestrian Road Crossing Behaviour in Urban Areas

2016 ◽  
pp. 1140-1155
Author(s):  
Eleonora Papadimitriou ◽  
George Yannis ◽  
John Golias
Keyword(s):  
Urban Areas ◽  
Field Survey ◽  
Probability Distributions ◽  
Traffic Volume ◽  
The Road ◽  
Traffic Conditions ◽  
Basic Parameters ◽  
In The Beginning ◽  
Pedestrian Crossing ◽  
Road Crossing

The objective of this research is the analysis of pedestrians behaviour along entire trips in urban road networks, with focus on their interaction with the traffic and the road environment while crossing roads. For this purpose, a special field survey was designed and carried out, which involved the recording of pedestrians road crossing behaviour along entire trips in real time by means of camera in motion at the centre of Athens, Greece. Based on the results of the field survey, an analysis of road crossing behaviour of pedestrians is presented, concerning characteristics of the trips, the pedestrians, the road environment and the traffic conditions. The results indicate that basic parameters of pedestrian trips (i.e. trip length, walking speed, number of crossings) can be described by appropriate probability distributions. They also reveal a tendency of pedestrians to cross either in the beginning or in the end of the trip, an increased probability of crossing at signalized junctions when these are available, and increased probability of crossing at mid-block in low traffic volume and on one-way roads. Furthermore, there is an overall tendency of pedestrians cross to at mid-block when the road and traffic conditions are favourable. On the contrary, more traffic lanes and increased traffic volume appear to discourage pedestrians from accepting important interaction with the vehicles and to lead them towards the choice of protected crossing locations. The proposed data collection method and the results of the analysis can be exploited in further research for the development of models of pedestrian crossing behaviour along entire trips in urban areas.

Safety at Curves and Road Geometry Standards in Some European Countries

1996 ◽  
Vol 1523 (1) ◽  
pp. 99-106 ◽  
Author(s):  
Thierry Brenac
Keyword(s):  
Urban Areas ◽  
National Standards ◽  
European Countries ◽  
Design Standards ◽  
The Road ◽  
Horizontal Curves ◽  
Road Design ◽  
Road Geometry ◽  
Design Speed ◽  
Curve Geometry

This paper deals with safety at horizontal curves on two-lane roads outside urban areas and the way the road design standards of different European countries account for this safety aspect. After a review of some research results, the main aspects of curve geometry and the curve's place in the horizontal alignment are analyzed. The main conclusions are that the traditional design speed approach is insufficient and that formal complementary rules in road design standards, especially to improve compatibility between successive elements of the alignment, must be introduced. If such complementary rules already exist in some national standards, they are neither frequent nor homogeneous throughout the different countries, and it seems that they are not based on sufficiently developed knowledge.

scholarly journals RCVC: RSU-Aided Cluster-Based Vehicular Clouds Architecture for Urban Areas

Electronics ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 193
Author(s):  
Mohamed Ben bezziane ◽  
Ahmed Korichi ◽  
Chaker Abdelaziz Kerrache ◽  
Mohamed el Amine Fekair
Keyword(s):  
Urban Areas ◽  
High Speed ◽  
Service Discovery ◽  
Cluster Head ◽  
Experimental Comparison ◽  
The Road ◽  
Road Side Unit ◽  
End To End Delay ◽  
End To End ◽  
On The Road

As a promising topic of research, Vehicular Cloud (VC) incorporates cloud computing and ad-hoc vehicular network (VANET). In VC, supplier vehicles provide their services to consumer vehicles in real-time. These services have a significant impact on the applications of internet access, storage and data. Due to the high-speed mobility of vehicles, users in consumer vehicles need a mechanism to discover services in their vicinity. Besides this, quality of service varies from one supplier vehicle to another; thus, consumer vehicles attempt to pick out the most appropriate services. In this paper, we propose a novel protocol named RSU-aided Cluster-based Vehicular Clouds protocol (RCVC), which constructs the VC using the Road Side Unit (RSU) directory and Cluster Head (CH) directory to make the resources of supplier vehicles more visible. While clusters of vehicles that move on the same road form a mobile cloud, the remaining vehicles form a different cloud on the road side unit. Furthermore, the consumption operation is achieved via the service selection method, which is managed by the CHs and RSUs based on a mathematical model to select the best services. Simulation results prove the effectiveness of our protocol in terms of service discovery and end-to-end delay, where we achieved service discovery and end-to-end delay of 3 × 10−3 s and 13 × 10−2 s, respectively. Moreover, we carried out an experimental comparison, revealing that the proposed method outperformed several states of the art protocols.

FPGA and ASIC implementation of the algorithm for traffic monitoring in urban areas

2011 ◽  
Vol 59 (2) ◽  
pp. 137-140 ◽  
Author(s):  
S. Szczepański ◽  
M. Wöjcikowski ◽  
B. Pankiewicz ◽  
M. KŁosowski ◽  
R. Żaglewski
Keyword(s):  
Urban Areas ◽  
Traffic Monitoring ◽  
Detection Algorithm ◽  
Frame Rate ◽  
Integrated Sensor ◽  
The Road ◽  
Moving Vehicles ◽  
Direction Of Movement ◽  
Account Due ◽  
Selection Of

FPGA and ASIC implementation of the algorithm for traffic monitoring in urban areas This paper describes the idea and the implementation of the image detection algorithm, that can be used in integrated sensor networks for environment and traffic monitoring in urban areas. The algorithm is dedicated to the extraction of moving vehicles from real-time camera images for the evaluation of traffic parameters, such as the number of vehicles, their direction of movement and their approximate speed. The authors, apart from the careful selection of particular steps of the algorithm towards hardware implementation, also proposed novel improvements, resulting in increasing the robustness and the efficiency. A single, stationary, monochrome camera is used, simple shadow and highlight elimination is performed. The occlusions are not taken into account, due to placing the camera at a location high above the road. The algorithm is designed and implemented in pipelined hardware, therefore high frame-rate efficiency has been achieved. The algorithm has been implemented and tested in FPGA and ASIC.

WIGNER FUNCTION OF PULSED FIELDS RECONSTRUCTED BY DIRECT DETECTION

2011 ◽  
Vol 09 (supp01) ◽  
pp. 39-47
Author(s):  
ALESSIA ALLEVI ◽  
MARIA BONDANI ◽  
ALESSANDRA ANDREONI
Keyword(s):  
Probability Distribution ◽  
Wigner Function ◽  
Beam Splitter ◽  
Direct Detection ◽  
Probability Distributions ◽  
Linear Regime ◽  
Wigner Functions ◽  
Intensity Measurements ◽  
Pulsed Fields

We present the experimental reconstruction of the Wigner function of some optical states. The method is based on direct intensity measurements by non-ideal photodetectors operated in the linear regime. The signal state is mixed at a beam-splitter with a set of coherent probes of known complex amplitudes and the probability distribution of the detected photons is measured. The Wigner function is given by a suitable sum of these probability distributions measured for different values of the probe. For comparison, the same data are analyzed to obtain the number distributions and the Wigner functions for photons.

Analysis of Magnitude and Frequency of Floods in the Damanganga Basin: Western India

2021 ◽  
Vol 5 (1) ◽  
pp. 1-11
Author(s):  
Vitthal Anwat ◽  
Pramodkumar Hire ◽  
Uttam Pawar ◽  
Rajendra Gunjal
Keyword(s):  
Probability Distribution ◽  
Probability Distributions ◽  
Flood Frequency ◽  
Flood Frequency Analysis ◽  
Western India ◽  
Type I ◽  
Return Periods ◽  
Pearson Type ◽  
Kolmogorov Smirnov ◽  
Anderson Darling

Flood Frequency Analysis (FFA) method was introduced by Fuller in 1914 to understand the magnitude and frequency of floods. The present study is carried out using the two most widely accepted probability distributions for FFA in the world namely, Gumbel Extreme Value type I (GEVI) and Log Pearson type III (LP-III). The Kolmogorov-Smirnov (KS) and Anderson-Darling (AD) methods were used to select the most suitable probability distribution at sites in the Damanganga Basin. Moreover, discharges were estimated for various return periods using GEVI and LP-III. The recurrence interval of the largest peak flood on record (Qmax) is 107 years (at Nanipalsan) and 146 years (at Ozarkhed) as per LP-III. Flood Frequency Curves (FFC) specifies that LP-III is the best-fitted probability distribution for FFA of the Damanganga Basin. Therefore, estimated discharges and return periods by LP-III probability distribution are more reliable and can be used for designing hydraulic structures.

Real-time unstructured road detection based on CNN and Gibbs energy function

2021 ◽  
pp. 1-19
Author(s):  
Mingzhou Liu ◽  
Xin Xu ◽  
Jing Hu ◽  
Qiannan Jiang
Keyword(s):  
Gibbs Energy ◽  
Energy Function ◽  
Gaussian Mixture Models ◽  
Texture Features ◽  
Gaussian Mixture ◽  
Gibbs Energy Function ◽  
Road Detection ◽  
The Road ◽  
Detection Algorithms ◽  
Random Sample Consensus

Road detection algorithms with high robustness as well as timeliness are the basis for developing intelligent assisted driving systems. To improve the robustness as well as the timeliness of unstructured road detection, a new algorithm is proposed in this paper. First, for the first frame in the video, the homography matrix H is estimated based on the improved random sample consensus (RANSAC) algorithm for different regions in the image, and the features of H are automatically extracted using convolutional neural network (CNN), which in turn enables road detection. Secondly, in order to improve the rate of subsequent similar frame detection, the color as well as texture features of the road are extracted from the detection results of the first frame, and the corresponding Gaussian mixture models (GMMs) are constructed based on Orchard-Bouman, and then the Gibbs energy function is used to achieve road detection in subsequent frames. Finally, the above algorithm is verified in a real unstructured road scene, and the experimental results show that the algorithm is 98.4% accurate and can process 58 frames per second with 1024×960 pixels.

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