Achieving genuinely dynamic road user charging : issues with a GNSS-based approach

Peer reviewedPostprin

A Platform for Proactive, Risk-Based Slope Asset Management, Phase II

INE/AUTC 15.0

3D Visual Perception for Self-Driving Cars using a Multi-Camera System: Calibration, Mapping, Localization, and Obstacle Detection

Cameras are a crucial exteroceptive sensor for self-driving cars as they are low-cost and small, provide appearance information about the environment, and work in various weather conditions. They can be used for multiple purposes such as visual navigation and obstacle detection. We can use a surround multi-camera system to cover the full 360-degree field-of-view around the car. In this way, we avoid blind spots which can otherwise lead to accidents. To minimize the number of cameras needed for surround perception, we utilize fisheye cameras. Consequently, standard vision pipelines for 3D mapping, visual localization, obstacle detection, etc. need to be adapted to take full advantage of the availability of multiple cameras rather than treat each camera individually. In addition, processing of fisheye images has to be supported. In this paper, we describe the camera calibration and subsequent processing pipeline for multi-fisheye-camera systems developed as part of the V-Charge project. This project seeks to enable automated valet parking for self-driving cars. Our pipeline is able to precisely calibrate multi-camera systems, build sparse 3D maps for visual navigation, visually localize the car with respect to these maps, generate accurate dense maps, as well as detect obstacles based on real-time depth map extraction

Location prediction based on a sector snapshot for location-based services

In location-based services (LBSs), the service is provided based on the users' locations through location determination and mobility realization. Most of the current location prediction research is focused on generalized location models, where the geographic extent is divided into regular-shaped cells. These models are not suitable for certain LBSs where the objectives are to compute and present on-road services. Such techniques are the new Markov-based mobility prediction (NMMP) and prediction location model (PLM) that deal with inner cell structure and different levels of prediction, respectively. The NMMP and PLM techniques suffer from complex computation, accuracy rate regression, and insufficient accuracy. In this paper, a novel cell splitting algorithm is proposed. Also, a new prediction technique is introduced. The cell splitting is universal so it can be applied to all types of cells. Meanwhile, this algorithm is implemented to the Micro cell in parallel with the new prediction technique. The prediction technique, compared with two classic prediction techniques and the experimental results, show the effectiveness and robustness of the new splitting algorithm and prediction technique

Adaptive Route Choice in Stochastic Time-Dependent Networks: Routing Algorithms and Choice Modeling

Transportation networks are inherently uncertain due to random disruptions; meanwhile, real-time information potentially helps travelers adapt to realized traffic conditions and make better route choices under such disruptions. Modeling adaptive route choice behavior is essential in evaluating Advanced Traveler Information Systems (ATIS) and related policies to better provide travelers with real-time information. This dissertation contributes to the state of the art by estimating the first latent-class routing policy choice model using revealed preference (RP) data and providing efficient computer algorithms for routing policy choice set generation. A routing policy is defined as a decision rule applied at each link that maps possible realized traffic conditions to decisions on the link to take next. It represents a traveler\u27s ability to look ahead in order to incorporate real-time information not yet available at the time of decision. A case study is conducted in Stockholm, Sweden and data for the stochastic time-dependent network are generated from hired taxi Global Positioning System (GPS) traces through the methods of map-matching and non-parametric link travel time estimation. A latent-class Policy Size Logit model is specified with two additional layers of latency in the measurement equation. The two latent classes of travelers are policy users who follow routing policies and path users who follow fixed paths. For the measurement equation of the policy user class, the choice of a routing policy is latent and only its realized path on a given day can be observed. Furthermore, when GPS traces have relatively long gaps between consecutive readings, the realized path cannot be uniquely identified. Routing policy choice set generation is based on the generalization of path choice set generation methods, and utilizes efficient implementation of an optimal routing policy (ORP) algorithm based on the two-queue data structure for label correcting. Systematic evaluation of the algorithm in random networks as well as in two large scale real-life networks is conducted. The generated choice sets are evaluated based on coverage and adaptiveness. Coverage is the percentage of observed trips included in the generated choice sets based on a certain threshold of overlapping between observed and generated routes, and adaptiveness represents the capability of a routing policy to be realized as different paths over different days. It is shown that using a combination of methods yields satisfactory coverage of 91.2%. Outlier analyses are then carried out for unmatching trips in choice set generation. The coverage achieves 95% for 100% threshold after correcting GPS errors and breaking up trips with intermediate stops, and further achieves 100% for 90% threshold. The latent-class routing policy choice model is estimated against observed GPS traces based on the three different sample sizes resulting from coverage improvement, and the estimates appear consistent across different sample sizes. Estimation results show the policy user class probability increases with trip length, and the latent-class routing policy choice model fits the data better than a single-class path choice model or routing policy choice model. This suggests that travelers are heterogeneous in terms of their ability and willingness to plan ahead and utilize real-time information. Therefore, a fixed path model as commonly used in the literature may lose explanatory power due to its simplified assumptions on network stochasticity and travelers\u27 utilization of real-time information

Co-Clustering Network-Constrained Trajectory Data

Recently, clustering moving object trajectories kept gaining interest from both the data mining and machine learning communities. This problem, however, was studied mainly and extensively in the setting where moving objects can move freely on the euclidean space. In this paper, we study the problem of clustering trajectories of vehicles whose movement is restricted by the underlying road network. We model relations between these trajectories and road segments as a bipartite graph and we try to cluster its vertices. We demonstrate our approaches on synthetic data and show how it could be useful in inferring knowledge about the flow dynamics and the behavior of the drivers using the road network

Video Surveillance for Road Traffic Monitoring

This project addresses the improvement of the current process of road traffic monitoring system being implemented in Malaysia. The current monitoring system implies video feeds from a particular road to a place where there will be personnel monitoring the traffic condition. The personnel will then manually update the traffic condition to various radio and television networks throughout the country to be broadcasted. FM radio is a famous channel for traffic updates since every vehicle is equipped with one. This project will provide a real-time update of the current traffic condition

Uncertainty Minimization in Robotic 3D Mapping Systems Operating in Dynamic Large-Scale Environments

This dissertation research is motivated by the potential and promise of 3D sensing technologies in safety and security applications. With specific focus on unmanned robotic mapping to aid clean-up of hazardous environments, under-vehicle inspection, automatic runway/pavement inspection and modeling of urban environments, we develop modular, multi-sensor, multi-modality robotic 3D imaging prototypes using localization/navigation hardware, laser range scanners and video cameras. While deploying our multi-modality complementary approach to pose and structure recovery in dynamic real-world operating conditions, we observe several data fusion issues that state-of-the-art methodologies are not able to handle. Different bounds on the noise model of heterogeneous sensors, the dynamism of the operating conditions and the interaction of the sensing mechanisms with the environment introduce situations where sensors can intermittently degenerate to accuracy levels lower than their design specification. This observation necessitates the derivation of methods to integrate multi-sensor data considering sensor conflict, performance degradation and potential failure during operation. Our work in this dissertation contributes the derivation of a fault-diagnosis framework inspired by information complexity theory to the data fusion literature. We implement the framework as opportunistic sensing intelligence that is able to evolve a belief policy on the sensors within the multi-agent 3D mapping systems to survive and counter concerns of failure in challenging operating conditions. The implementation of the information-theoretic framework, in addition to eliminating failed/non-functional sensors and avoiding catastrophic fusion, is able to minimize uncertainty during autonomous operation by adaptively deciding to fuse or choose believable sensors. We demonstrate our framework through experiments in multi-sensor robot state localization in large scale dynamic environments and vision-based 3D inference. Our modular hardware and software design of robotic imaging prototypes along with the opportunistic sensing intelligence provides significant improvements towards autonomous accurate photo-realistic 3D mapping and remote visualization of scenes for the motivating applications