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A typical Surround View System consists of several cameras on the vehicle perimeter. This document proposes three novel methods for the extrinsic calibration of Surround View Systems (SVS). I — The first approach uses a single calibration pattern placed step-by-step on the vehicle perimeter. II — The second approach uses several calibration patterns placed on the ground plane. The vehicle drives between...
Detecting small obstacles on the road ahead is a critical part of the driving task which has to be mastered by fully autonomous cars. In this paper, we present a method based on stereo vision to reliably detect such obstacles from a moving vehicle.
Traffic Level of Service (LOS) information is crucial for traffic management systems, especially in urban areas. One method to estimate traffic LoS is to use a central server system to process traffic images captured by road side cameras. However, this approach requires a high performance server system as well as high network throughput to transmit images from the cameras to the server, which results...
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...
The detection of vehicles driving on busy urban streets in videos acquired by airborne cameras is challenging due to the large distance between camera and vehicles, simultaneous vehicle and camera motion, shadows, or low contrast due to weak illumination. However, it is an important processing step for applications such as automatic traffic monitoring, detection of abnormal behaviour, border protection,...
Vision-aided localization systems are often utilized in urban settings to take advantage of structured environment, high availability of unique visual features, as well as complimenting aiding measurements from Global Navigation Satellite System (GNSS). In this paper, we present a case study for roadway texture mapping that combines low-cost sensor measurements that are already available on many production...
There have been increasing interests in the robotics community in building smaller and more agile autonomous micro aerial vehicles (MAVs). In particular, the monocular visual-inertial system (VINS) that consists of only a camera and an inertial measurement unit (IMU) forms a great minimum sensor suite due to its superior size, weight, and power (SWaP) characteristics. In this paper, we present a tightly-coupled...
The paper describes a novel cooperative control policy for the transportation of large objects in underwater environments using two UVMS (Underwater Vehicle Manipulator Systems). Due to the low bandwidth available in underwater scenarios, the main feature of the paper lies in the fact that the cooperative transportation of the commonly grasped object is carried out successfully by just exchanging...
In this paper we present an online approach to segmenting roads on large scale trajectories using only a monocular camera mounted on a car. We differ from popular 2D segmentation solutions which use single colour images and machine learning algorithms that require supervised training on huge image databases. Instead, we propose a novel approach that fuses 3D geometric data with appearance-based segmentation...
In this paper, we introduce a prototype attention detection system for automotive drivers. The driver is monitored through a Microsoft Kinect camera which provides RGB, depth, and infrared images in order to cover situations in which normal cameras might not achieve good results. The Kinect is connected to a Xilinx ZedBoard wich uses a Zynq-7000 SoC as processing platform. The attention detection...
High-quality positioning is of fundamental importance for an increasing variety of advanced driver assistance systems. GNSS-based systems are predominant outdoors but usually fail in enclosed areas where a direct line-of-sight to satellites is unavailable. For those scenarios, external infrastructure-based positioning systems are a promising alternative. However, external position detections have...
The use of teams of small unmanned aircraft in real-world rapid-response missions is fast becoming a reality. One such application is search and detection of an evader in urban areas. This paper draws on results in graph-based pursuit-evasion, developing mappings from these abstractions to primitive motions that may be performed by aircraft, to produce search strategies providing guaranteed capture...
With increasing automation of unmanned aircraft and the endeavor to fly between buildings in cities and in other occluded areas, safe navigation is essentially required but still a challenge. This paper is about the important issue of vehicle positioning in the case of satellite signal dropouts, and it presents a visual odometry method to compensate GPS positioning interruptions. The presented approach...
The problem of Adaptation from Participation (AfP) aims to improve the efficiency of a human-robot team by adapting a robot's autonomous systems and behaviors based on command-level input from a human supervisor. As a solution to AfP, the Adaptive Parameter EXploration (APEX) algorithm continuously explores the space of all possible parameter configurations for the robot's autonomous system in an...
In vehicular multimedia sensor networks vehicles are equipped with cameras and they continuously capture images from urban streets. Then, vehicles can use roadside wireless access points encountered during travel to deliver recorded image data to remote data collectors, in which the information from several multimedia streams is aggregated and processed to enable new services, such as urban surveillance,...
This paper deals with platooning navigation in the context of innovative solutions for urban transportation systems. More precisely, the case of a manually driven vehicle leading a convoy of automated ones is considered. Vehicle localization relies solely on monocular vision: a 3D map of the environment is built beforehand from reference video sequences, and then used to derive vehicle absolute location...
This paper presents a novel method to realize on-board visual odometry system. Vehicular kinematic constrain is used in the motion estimation algorithms. The work is a extension from planar steering model to 3-dof in which vehicle's motion is modeled more reasonable and accurate. By virtue of appropriate simplification, the close-form solution of motion parameters can be obtained only need to find...
This paper presents a fuzzy traffic controller that in an autonomous, centralized and optimal way, manages traffic flow in a group of intersections. The system obtains information from a network of cameras and through machine vision algorithms can detect the number of vehicles in each of the roads. Using this information, the fuzzy system selects the sequence of phases that optimize traffic flow globally...
Here we present an approach to estimate the global pose of a vehicle in the face of two distinct problems; first, when using stereo visual odometry for relative motion estimation, a lack of features at close range causes a bias in the motion estimate. The other challenge is localizing in the global coordinate frame using very infrequent GPS measurements. Solving these problems we demonstrate a method...
During semi-autonomous driving, threat assessment is used to determine when controller intervention that overwrites or corrects the driver's input is required. Since today's semi-autonomous systems perform threat assessment by predicting the vehicle's future state while treating the driver's input as a disturbance, controller intervention is limited to just emergency maneuvers. In order to improve...
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