Mobile mapping for the automated analysis of road signage and delineation

A portable mobile stereo vision system designed for the assessment of road signage and delineation (lines and road studs or 'cat eyes') in low light conditions is presented. This novel system allows both geometric and photometric measurements to be made on objects in a scene. Using the system, it has been shown that retro-reflectors, and in particular road signs, can be identified by nature of their reflective properties. In addition, a novel imaging application has been investigated that facilitates the detection of defective road studs. Any objects examined can also be positioned on a national grid through the fusion of stereo vision with global positioning system technology. Automated feature extraction and analysis routines make the system fully autonomous

Imitation Learning for Vision-based Lane Keeping Assistance

This paper aims to investigate direct imitation learning from human drivers for the task of lane keeping assistance in highway and country roads using grayscale images from a single front view camera. The employed method utilizes convolutional neural networks (CNN) to act as a policy that is driving a vehicle. The policy is successfully learned via imitation learning using real-world data collected from human drivers and is evaluated in closed-loop simulated environments, demonstrating good driving behaviour and a robustness for domain changes. Evaluation is based on two proposed performance metrics measuring how well the vehicle is positioned in a lane and the smoothness of the driven trajectory.Comment: International Conference on Intelligent Transportation Systems (ITSC

The use of multispectral sensing techniques to detect ponderosa pine trees under stress from insect or pathogenic organisms Annual progress report

Ground and aerial imaging techniques to detect tree damage caused by bark beetles in forested area

Microsystems technology: objectives

This contribution focuses on the objectives of microsystems technology (MST). The reason for this is two fold. First of all, it should explain what MST actually is. This question is often posed and a simple answer is lacking, as a consequence of the diversity of subjects that are perceived as MST. The second reason is that a map of the somewhat chaotic field of MST is needed to identify sub-territories, for which standardization in terms of system modules an interconnections is feasible. To define the objectives a pragmatic approach has been followed. From the literature a selection of topics has been chosen and collected that are perceived as belonging to the field of MST by a large community of workers in the field (more than 250 references). In this way an overview has been created with `applications¿ and `generic issues¿ as the main characteristics

A review on computer vision based defect detection and condition assessment of concrete and asphalt civil infrastructure

To ensure the safety and the serviceability of civil infrastructure it is essential to visually inspect and assess its physical and functional condition. This review paper presents the current state of practice of assessing the visual condition of vertical and horizontal civil infrastructure; in particular of reinforced concrete bridges, precast concrete tunnels, underground concrete pipes, and asphalt pavements. Since the rate of creation and deployment of computer vision methods for civil engineering applications has been exponentially increasing, the main part of the paper presents a comprehensive synthesis of the state of the art in computer vision based defect detection and condition assessment related to concrete and asphalt civil infrastructure. Finally, the current achievements and limitations of existing methods as well as open research challenges are outlined to assist both the civil engineering and the computer science research community in setting an agenda for future research

Investigation and Remediation of the Cavern in the Vrata Tunnel on the Zagreb – Rijeka Highway (Croatia)

In the Dinaric karst system in Croatia some 11500 speleological objects have been explored so far, more than 1000 of which were discovered during construction works. Such speleological objects without natural entrance on the terrain surface (which are called „caverns“) have been discovered on the construction sites of the highways. Over the past twenty years they have been systematically investigated and treated. A special kind of remediation was conducted in the cavern’s large hall of the „Vrata“ tunnel on the Zagreb – Rijeka highway. Due to size, shape, cavern’s position and hydrogeological parameters within the karst system it was necessary to design and construct a 58 m bridge over the cavern. In addition, the cavern’s vault had to be reinforced and stabilized, as the overburden was very thin. The beam-and –stringer grid with special anchors was used. The cavern’s rehabilitation in the „Vrata“ tunnel was a unique undertaking, and the bridge (without piers) is the cavern’s longest bridge in the world

Magnetic Jam in the Corona of the Sun

The outer solar atmosphere, the corona, contains plasma at temperatures of more than a million K, more than 100 times hotter that solar surface. How this gas is heated is a fundamental question tightly interwoven with the structure of the magnetic field in the upper atmosphere. Conducting numerical experiments based on magnetohydrodynamics we account for both the evolving three-dimensional structure of the atmosphere and the complex interaction of magnetic field and plasma. Together this defines the formation and evolution of coronal loops, the basic building block prominently seen in X-rays and extreme ultraviolet (EUV) images. The structures seen as coronal loops in the EUV can evolve quite differently from the magnetic field. While the magnetic field continuously expands as new magnetic flux emerges through the solar surface, the plasma gets heated on successively emerging fieldlines creating an EUV loop that remains roughly at the same place. For each snapshot the EUV images outline the magnetic field, but in contrast to the traditional view, the temporal evolution of the magnetic field and the EUV loops can be different. Through this we show that the thermal and the magnetic evolution in the outer atmosphere of a cool star has to be treated together, and cannot be simply separated as done mostly so far.Comment: Final version published online on 27 April 2015, Nature Physics 12 pages and 8 figure

Digital landform reconstruction using old and recent open access digital aerial photos

Technological progress in remote sensing has enabled digital representation of terrain through new techniques (e.g. digital photogrammetry) and instruments (e.g. 3D laser scanners). However, the use of old aerial images remains important in geosciences to reconstruct past landforms and detect long-term topographic changes. Administrations have recently expressed growing interest in sharing photogrammetric datasets on public repositories, providing opportunities to exploit these resources and detect natural and anthropogenic topographic changes. The SfM-MVS photogrammetric technique was applied to scanned historical black and white aerial photos of the Serra de Fontcalent (Alicante, Spain), as well as to recent high-quality digital aerial photos. Ground control points (GCPs) extracted from a LiDAR-derived three-dimensional point cloud were used to georeference the results with non-linear deformations. Two point clouds obtained with SfM-MVS were compared with the LiDAR-derived reference point cloud. Based on the result, the quality of the models was analysed through the comparison of the stages on stable areas, i.e., lands where no variations were detected, and active areas, with quarries, new infrastructures, fillings, excavations or new buildings. This study also indicates that errors are higher for old aerial photos (up to 5 m on average) than recent digital photos (up to 0.5 m). The application of SfM-MVS to open access data generated 3D models that enhance the geomorphological analysis, compared to stereophotogrammetry, and effectively detected activities in quarries and building of landfills.This work was partially funded by the University of Alicante, Spain, under Projects vigrob-157 GRE14-04, and GRE15-19; the University of Florence Earth Science Department, Italy; the Spanish Ministry of Economy and Competitiveness (MINECO), Spain, and EU FEDER, under Projects TIN2014-55413-C2-2-P and TEC2017-85244-C2-1-P and the Spanish Ministry of Education, Culture and Sport, Spain, under project PSX17/00439

Adaptive driver modelling in ADAS to improve user acceptance: A study using naturalistic data

Accurate understanding of driver behaviour is crucial for future Advanced Driver Assistance Systems (ADAS) and autonomous driving. For user acceptance it is important that ADAS respect individual driving styles and adapt accordingly. Using data collected during a naturalistic driving study carried out at the University of Southampton, we assess existing models of driver acceleration and speed choice during car following and when cornering. We observe that existing models of driver behaviour that specify a preferred inter-vehicle spacing in car-following situations appear to be too prescriptive, with a wide range of acceptable spacings visible in the naturalistic data. Bounds on lateral acceleration during cornering from the literature are visible in the data, but appear to be influenced by the minimum cornering radii specified in design codes for UK roadway geometry. This analysis of existing driver models is used to suggest a small set of parameters that are sufficient to characterise driver behaviour in car-following and curve driving, which may be estimated in real-time by an ADAS to adapt to changing driver behaviour. Finally, we discuss applications to adaptive ADAS with the objectives of improving road safety and promoting eco-driving, and suggest directions for future researc

A Review of Sensor Technologies for Perception in Automated Driving

After more than 20 years of research, ADAS are common in modern vehicles available in the market. Automated Driving systems, still in research phase and limited in their capabilities, are starting early commercial tests in public roads. These systems rely on the information provided by on-board sensors, which allow to describe the state of the vehicle, its environment and other actors. Selection and arrangement of sensors represent a key factor in the design of the system. This survey reviews existing, novel and upcoming sensor technologies, applied to common perception tasks for ADAS and Automated Driving. They are put in context making a historical review of the most relevant demonstrations on Automated Driving, focused on their sensing setup. Finally, the article presents a snapshot of the future challenges for sensing technologies and perception, finishing with an overview of the commercial initiatives and manufacturers alliances that will show future market trends in sensors technologies for Automated Vehicles.This work has been partly supported by ECSEL Project ENABLE- S3 (with grant agreement number 692455-2), by the Spanish Government through CICYT projects (TRA2015- 63708-R and TRA2016-78886-C3-1-R)