LiDAR and Camera Detection Fusion in a Real Time Industrial Multi-Sensor Collision Avoidance System

Collision avoidance is a critical task in many applications, such as ADAS (advanced driver-assistance systems), industrial automation and robotics. In an industrial automation setting, certain areas should be off limits to an automated vehicle for protection of people and high-valued assets. These areas can be quarantined by mapping (e.g., GPS) or via beacons that delineate a no-entry area. We propose a delineation method where the industrial vehicle utilizes a LiDAR {(Light Detection and Ranging)} and a single color camera to detect passive beacons and model-predictive control to stop the vehicle from entering a restricted space. The beacons are standard orange traffic cones with a highly reflective vertical pole attached. The LiDAR can readily detect these beacons, but suffers from false positives due to other reflective surfaces such as worker safety vests. Herein, we put forth a method for reducing false positive detection from the LiDAR by projecting the beacons in the camera imagery via a deep learning method and validating the detection using a neural network-learned projection from the camera to the LiDAR space. Experimental data collected at Mississippi State University's Center for Advanced Vehicular Systems (CAVS) shows the effectiveness of the proposed system in keeping the true detection while mitigating false positives.Comment: 34 page

ECG Signal Reconstruction on the IoT-Gateway and Efficacy of Compressive Sensing Under Real-time Constraints

Remote health monitoring is becoming indispensable, though, Internet of Things (IoTs)-based solutions have many implementation challenges, including energy consumption at the sensing node, and delay and instability due to cloud computing. Compressive sensing (CS) has been explored as a method to extend the battery lifetime of medical wearable devices. However, it is usually associated with computational complexity at the decoding end, increasing the latency of the system. Meanwhile, mobile processors are becoming computationally stronger and more efficient. Heterogeneous multicore platforms (HMPs) offer a local processing solution that can alleviate the limitations of remote signal processing. This paper demonstrates the real-time performance of compressed ECG reconstruction on ARM's big.LITTLE HMP and the advantages they provide as the primary processing unit of the IoT architecture. It also investigates the efficacy of CS in minimizing power consumption of a wearable device under real-time and hardware constraints. Results show that both the orthogonal matching pursuit and subspace pursuit reconstruction algorithms can be executed on the platform in real time and yield optimum performance on a single A15 core at minimum frequency. The CS extends the battery life of wearable medical devices up to 15.4% considering ECGs suitable for wellness applications and up to 6.6% for clinical grade ECGs. Energy consumption at the gateway is largely due to an active internet connection; hence, processing the signals locally both mitigates system's latency and improves gateway's battery life. Many remote health solutions can benefit from an architecture centered around the use of HMPs, a step toward better remote health monitoring systems.Peer reviewedFinal Published versio