Bayesian Road Estimation Using Onboard Sensors

This paper describes an algorithm for estimating the road ahead of a host vehicle based on the measurements from several onboard sensors: a camera, a radar, wheel speed sensors,and an inertial measurement unit.We propose a novel road model that is able to describe the road ahead with higher accuracy than the usual polynomial model. We also develop a Bayesian fusionsystem that uses the following information from the surroundings: lane marking measurements obtained by the camera and leading vehicle and stationary object measurements obtained bya radar–camera fusion system. The performance of our fusion algorithm is evaluated in several drive tests. As expected, the more information we use, the better the performance is.Index Terms—Camera, information fusion, radar, road geometry,unscented Kalman filter (UKF)

Fusion of Data from Heterogeneous Sensors with Distributed Fields of View and Situation Evaluation for Advanced Driver Assistance Systems

In order to develop a driver assistance system for pedestrian protection, pedestrians in the environment of a truck are detected by radars and a camera and are tracked across distributed fields of view using a Joint Integrated Probabilistic Data Association filter. A robust approach for prediction of the system vehicles trajectory is presented. It serves the computation of a probabilistic collision risk based on reachable sets where different sources of uncertainty are taken into account

Vehicular Instrumentation and Data Processing for the Study of Driver Intent

The primary goal of this thesis is to provide processed experimental data needed to determine whether driver intentionality and driving-related actions can be predicted from quantitative and qualitative analysis of driver behaviour. Towards this end, an instrumented experimental vehicle capable of recording several synchronized streams of data from the surroundings of the vehicle, the driver gaze with head pose and the vehicle state in a naturalistic driving environment was designed and developed. Several driving data sequences in both urban and rural environments were recorded with the instrumented vehicle. These sequences were automatically annotated for relevant artifacts such as lanes, vehicles and safely driveable areas within road lanes. A framework and associated algorithms required for cross-calibrating the gaze tracking system with the world coordinate system mounted on the outdoor stereo system was also designed and implemented, allowing the mapping of the driver gaze with the surrounding environment. This instrumentation is currently being used for the study of driver intent, geared towards the development of driver maneuver prediction models

Multisource Data Integration in Remote Sensing

Papers presented at the workshop on Multisource Data Integration in Remote Sensing are compiled. The full text of these papers is included. New instruments and new sensors are discussed that can provide us with a large variety of new views of the real world. This huge amount of data has to be combined and integrated in a (computer-) model of this world. Multiple sources may give complimentary views of the world - consistent observations from different (and independent) data sources support each other and increase their credibility, while contradictions may be caused by noise, errors during processing, or misinterpretations, and can be identified as such. As a consequence, integration results are very reliable and represent a valid source of information for any geographical information system

A novel automated approach of multi-modality retinal image registration and fusion

Biomedical image registration and fusion are usually scene dependent, and require intensive computational effort. A novel automated approach of feature-based control point detection and area-based registration and fusion of retinal images has been successfully designed and developed. The new algorithm, which is reliable and time-efficient, has an automatic adaptation from frame to frame with few tunable threshold parameters. The reference and the to-be-registered images are from two different modalities, i.e. angiogram grayscale images and fundus color images. The relative study of retinal images enhances the information on the fundus image by superimposing information contained in the angiogram image. Through the thesis research, two new contributions have been made to the biomedical image registration and fusion area. The first contribution is the automatic control point detection at the global direction change pixels using adaptive exploratory algorithm. Shape similarity criteria are employed to match the control points. The second contribution is the heuristic optimization algorithm that maximizes Mutual-Pixel-Count (MPC) objective function. The initially selected control points are adjusted during the optimization at the sub-pixel level. A global maxima equivalent result is achieved by calculating MPC local maxima with an efficient computation cost. The iteration stops either when MPC reaches the maximum value, or when the maximum allowable loop count is reached. To our knowledge, it is the first time that the MPC concept has been introduced into biomedical image fusion area as the measurement criteria for fusion accuracy. The fusion image is generated based on the current control point coordinates when the iteration stops. The comparative study of the presented automatic registration and fusion scheme against Centerline Control Point Detection Algorithm, Genetic Algorithm, RMSE objective function, and other existing data fusion approaches has shown the advantage of the new approach in terms of accuracy, efficiency, and novelty

Applications

Volume 3 describes how resource-aware machine learning methods and techniques are used to successfully solve real-world problems. The book provides numerous specific application examples: in health and medicine for risk modelling, diagnosis, and treatment selection for diseases in electronics, steel production and milling for quality control during manufacturing processes in traffic, logistics for smart cities and for mobile communications

Applications

Volume 3 describes how resource-aware machine learning methods and techniques are used to successfully solve real-world problems. The book provides numerous specific application examples: in health and medicine for risk modelling, diagnosis, and treatment selection for diseases in electronics, steel production and milling for quality control during manufacturing processes in traffic, logistics for smart cities and for mobile communications