Multilayer Graph-Based Trajectory Planning for Race Vehicles in Dynamic Scenarios

Trajectory planning at high velocities and at the handling limits is a challenging task. In order to cope with the requirements of a race scenario, we propose a far-sighted two step, multi-layered graph-based trajectory planner, capable to run with speeds up to 212~km/h. The planner is designed to generate an action set of multiple drivable trajectories, allowing an adjacent behavior planner to pick the most appropriate action for the global state in the scene. This method serves objectives such as race line tracking, following, stopping, overtaking and a velocity profile which enables a handling of the vehicle at the limit of friction. Thereby, it provides a high update rate, a far planning horizon and solutions to non-convex scenarios. The capabilities of the proposed method are demonstrated in simulation and on a real race vehicle.Comment: Accepted at The 22nd IEEE International Conference on Intelligent Transportation Systems, October 27 - 30, 201

Convolutional Neural Network on Three Orthogonal Planes for Dynamic Texture Classification

Dynamic Textures (DTs) are sequences of images of moving scenes that exhibit certain stationarity properties in time such as smoke, vegetation and fire. The analysis of DT is important for recognition, segmentation, synthesis or retrieval for a range of applications including surveillance, medical imaging and remote sensing. Deep learning methods have shown impressive results and are now the new state of the art for a wide range of computer vision tasks including image and video recognition and segmentation. In particular, Convolutional Neural Networks (CNNs) have recently proven to be well suited for texture analysis with a design similar to a filter bank approach. In this paper, we develop a new approach to DT analysis based on a CNN method applied on three orthogonal planes x y , xt and y t . We train CNNs on spatial frames and temporal slices extracted from the DT sequences and combine their outputs to obtain a competitive DT classifier. Our results on a wide range of commonly used DT classification benchmark datasets prove the robustness of our approach. Significant improvement of the state of the art is shown on the larger datasets.Comment: 19 pages, 10 figure

Short-term Demand Forecasting for Online Car-hailing Services using Recurrent Neural Networks

Short-term traffic flow prediction is one of the crucial issues in intelligent transportation system, which is an important part of smart cities. Accurate predictions can enable both the drivers and the passengers to make better decisions about their travel route, departure time and travel origin selection, which can be helpful in traffic management. Multiple models and algorithms based on time series prediction and machine learning were applied to this issue and achieved acceptable results. Recently, the availability of sufficient data and computational power, motivates us to improve the prediction accuracy via deep-learning approaches. Recurrent neural networks have become one of the most popular methods for time series forecasting, however, due to the variety of these networks, the question that which type is the most appropriate one for this task remains unsolved. In this paper, we use three kinds of recurrent neural networks including simple RNN units, GRU and LSTM neural network to predict short-term traffic flow. The dataset from TAP30 Corporation is used for building the models and comparing RNNs with several well-known models, such as DEMA, LASSO and XGBoost. The results show that all three types of RNNs outperform the others, however, more simple RNNs such as simple recurrent units and GRU perform work better than LSTM in terms of accuracy and training time.Comment: arXiv admin note: text overlap with arXiv:1706.06279, arXiv:1804.04176 by other author

Two-Stream RNN/CNN for Action Recognition in 3D Videos

The recognition of actions from video sequences has many applications in health monitoring, assisted living, surveillance, and smart homes. Despite advances in sensing, in particular related to 3D video, the methodologies to process the data are still subject to research. We demonstrate superior results by a system which combines recurrent neural networks with convolutional neural networks in a voting approach. The gated-recurrent-unit-based neural networks are particularly well-suited to distinguish actions based on long-term information from optical tracking data; the 3D-CNNs focus more on detailed, recent information from video data. The resulting features are merged in an SVM which then classifies the movement. In this architecture, our method improves recognition rates of state-of-the-art methods by 14% on standard data sets.Comment: Published in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS