Dynamic Occupancy Grid Prediction for Urban Autonomous Driving: A Deep Learning Approach with Fully Automatic Labeling

Long-term situation prediction plays a crucial role in the development of intelligent vehicles. A major challenge still to overcome is the prediction of complex downtown scenarios with multiple road users, e.g., pedestrians, bikes, and motor vehicles, interacting with each other. This contribution tackles this challenge by combining a Bayesian filtering technique for environment representation, and machine learning as long-term predictor. More specifically, a dynamic occupancy grid map is utilized as input to a deep convolutional neural network. This yields the advantage of using spatially distributed velocity estimates from a single time step for prediction, rather than a raw data sequence, alleviating common problems dealing with input time series of multiple sensors. Furthermore, convolutional neural networks have the inherent characteristic of using context information, enabling the implicit modeling of road user interaction. Pixel-wise balancing is applied in the loss function counteracting the extreme imbalance between static and dynamic cells. One of the major advantages is the unsupervised learning character due to fully automatic label generation. The presented algorithm is trained and evaluated on multiple hours of recorded sensor data and compared to Monte-Carlo simulation

Wavelet-based filtration procedure for denoising the predicted CO2 waveforms in smart home within the Internet of Things

The operating cost minimization of smart homes can be achieved with the optimization of the management of the building's technical functions by determination of the current occupancy status of the individual monitored spaces of a smart home. To respect the privacy of the smart home residents, indirect methods (without using cameras and microphones) are possible for occupancy recognition of space in smart homes. This article describes a newly proposed indirect method to increase the accuracy of the occupancy recognition of monitored spaces of smart homes. The proposed procedure uses the prediction of the course of CO2 concentration from operationally measured quantities (temperature indoor and relative humidity indoor) using artificial neural networks with a multilayer perceptron algorithm. The mathematical wavelet transformation method is used for additive noise canceling from the predicted course of the CO2 concentration signal with an objective increase accuracy of the prediction. The calculated accuracy of CO2 concentration waveform prediction in the additive noise-canceling application was higher than 98% in selected experiments.Web of Science203art. no. 62