Urban scene description for a multi scale classication of high resolution imagery case of Cape Town urban Scene

Includes abstract.Includes bibliographical references.In this paper, a multi level contextual classification approach of the City of Cape Town, South Africa is presented. The methodology developed to identify the different objects using the multi level contextual technique comprised three important phases

Harnessing Big Data for Characterizing Driving Volatility in Instantaneous Driving Decisions – Implications for Intelligent Transportation Systems

This dissertation focuses on combining connected vehicles data, naturalistic driving sensor and telematics data, and traditional transportation data to prospect opportunities for engineering smart and proactive transportation systems.The key idea behind the dissertation is to understand (and where possible reduce) “driving volatility” in instantaneous driving decisions and increase driving and locational stability. As a new measure of micro driving behaviors, the concept of “driving volatility” captures the extent of variations in driving, especially hard accelerations/braking, jerky maneuvers, and frequent switching between different driving regimes. The key motivation behind analyzing driving volatility is to help predict what drivers will do in the short term. Consequently, this dissertation develops a “volatility matrix” which takes a systems approach to operationalizing driving volatility at different levels, trip-based volatility, location-based volatility, event-based volatility, and driver-based volatility. At the trip-level, the dynamics of driving regimes extracted from Basic Safety Messages transmitted between connected vehicles are analyzed at a microscopic level, and where the interactions between microscopic driving decisions and ecosystem of mapped local traffic states in close proximity surrounding the host vehicle are characterized. Another new idea relates to extending driving volatility to specific network locations, termed as “location-based volatility”. A new methodology is proposed for combining emerging connected vehicles data with traditional transportation data (crash, traffic, road geometrics data, etc.) to identify roadway locations where traffic crashes are waiting to happen. The idea of event-based and driver-based volatility introduces the notion that volatility in longitudinal and lateral directions prior to involvement in safety critical events (crashes/near-crashes) can be a leading indicator of proactive safety.Overall, by studying driving volatility from different lenses, the dissertation contributes to the scientific analysis of real-world connected vehicles data, and to generate actionable knowledge relevant to the design of smart and intelligent transportation systems. The concept of driving volatility matrix provides a systems framework for characterizing the health of three fundamental elements of a transportation system: health of driver, environment, and the vehicle. The implications of the findings and potential applications to proactive network level screening, customized driver assist and control systems, driving performance monitoring are discussed in detail

Trajectory generation for lane-change maneuver of autonomous vehicles

Lane-change maneuver is one of the most thoroughly investigated automatic driving operations that can be used by an autonomous self-driving vehicle as a primitive for performing more complex operations like merging, entering/exiting highways or overtaking another vehicle. This thesis focuses on two coherent problems that are associated with the trajectory generation for lane-change maneuvers of autonomous vehicles in a highway scenario: (i) an effective velocity estimation of neighboring vehicles under different road scenarios involving linear and curvilinear motion of the vehicles, and (ii) trajectory generation based on the estimated velocities of neighboring vehicles for safe operation of self-driving cars during lane-change maneuvers. ^ We first propose a two-stage, interactive-multiple-model-based estimator to perform multi-target tracking of neighboring vehicles in a lane-changing scenario. The first stage deals with an adaptive window based turn-rate estimation for tracking maneuvering target vehicles using Kalman filter. In the second stage, variable-structure models with updated estimated turn-rate are utilized to perform data association followed by velocity estimation. Based on the estimated velocities of neighboring vehicles, piecewise Bezier-curve-based methods that minimize the safety/collision risk involved and maximize the comfort ride have been developed for the generation of desired trajectory for lane-change maneuvers. The proposed velocity-estimation and trajectory-generation algorithms have been validated experimentally using Pioneer3- DX mobile robots in a simulated lane-change environment as well as validated by computer simulations

TrauMAP - Integrating Anatomical and Physiological Simulation (Dissertation Proposal)

In trauma, many injuries impact anatomical structures, which may in turn affect physiological processes - not only those processes within the structure, but also ones occurring in physical proximity to them. Our goal with this research is to model mechanical interactions of different body systems and their impingement on underlying physiological processes. We are particularly concerned with pathological situations in which body system functions that normally do not interact become dependent as a result of mechanical behavior. Towards that end, the proposed TRAUMAP system (Trauma Modeling of Anatomy and Physiology) consists of three modules: (1) a hypothesis generator for suggesting possible structural changes that result from the direct injuries sustained; (2) an information source for responding to operator querying about anatomical structures, physiological processes, and pathophysiological processes; and (3) a continuous system simulator for simulating and illustrating anatomical and physiological changes in three dimensions. Models that can capture such changes may serve as an infrastructure for more detailed modeling and benefit surgical planning, surgical training, and general medical education, enabling students to visualize better, in an interactive environment, certain basic anatomical and physiological dependencies

Behavioral pedestrian tracking using a camera and lidar sensors on a moving vehicle

In this paper, we present a novel 2D–3D pedestrian tracker designed for applications in autonomous vehicles. The system operates on a tracking by detection principle and can track multiple pedestrians in complex urban traffic situations. By using a behavioral motion model and a non-parametric distribution as state model, we are able to accurately track unpredictable pedestrian motion in the presence of heavy occlusion. Tracking is performed independently, on the image and ground plane, in global, motion compensated coordinates. We employ Camera and LiDAR data fusion to solve the association problem where the optimal solution is found by matching 2D and 3D detections to tracks using a joint log-likelihood observation model. Each 2D–3D particle filter then updates their state from associated observations and a behavioral motion model. Each particle moves independently following the pedestrian motion parameters which we learned offline from an annotated training dataset. Temporal stability of the state variables is achieved by modeling each track as a Markov Decision Process with probabilistic state transition properties. A novel track management system then handles high level actions such as track creation, deletion and interaction. Using a probabilistic track score the track manager can cull false and ambiguous detections while updating tracks with detections from actual pedestrians. Our system is implemented on a GPU and exploits the massively parallelizable nature of particle filters. Due to the Markovian nature of our track representation, the system achieves real-time performance operating with a minimal memory footprint. Exhaustive and independent evaluation of our tracker was performed by the KITTI benchmark server, where it was tested against a wide variety of unknown pedestrian tracking situations. On this realistic benchmark, we outperform all published pedestrian trackers in a multitude of tracking metrics