Classification and Change Detection in Mobile Mapping LiDAR Point Clouds

Creating 3D models of the static environment is an important task for the advancement of driver assistance systems and autonomous driving. In this work, a static reference map is created from a Mobile Mapping “light detection and ranging” (LiDAR) dataset. The data was obtained in 14 measurement runs from March to October 2017 in Hannover and consists in total of about 15 billion points. The point cloud data are first segmented by region growing and then processed by a random forest classification, which divides the segments into the five static classes (“facade”, “pole”, “fence”, “traffic sign”, and “vegetation”) and three dynamic classes (“vehicle”, “bicycle”, “person”) with an overall accuracy of 94%. All static objects are entered into a voxel grid, to compare different measurement epochs directly. In the next step, the classified voxels are combined with the result of a visibility analysis. Therefore, we use a ray tracing algorithm to detect traversed voxels and differentiate between empty space and occlusion. Each voxel is classified as suitable for the static reference map or not by its object class and its occupation state during different epochs. Thereby, we avoid to eliminate static voxels which were occluded in some of the measurement runs (e.g. parts of a building occluded by a tree). However, segments that are only temporarily present and connected to static objects, such as scaffolds or awnings on buildings, are not included in the reference map. Overall, the combination of the classification with the subsequent entry of the classes into a voxel grid provides good and useful results that can be updated by including new measurement data

A systematic literature review on the relationship between autonomous vehicle technology and traffic-related mortality.

학위논문(석사) -- 서울대학교대학원 : 행정대학원 글로벌행정전공, 2023. 2. 최태현.The society is anticipated to gain a lot from Autonomous Vehicles (AV), such as improved traffic flow and a decrease in accidents. They heavily rely on improvements in various Artificial Intelligence (AI) processes and strategies. Though some researchers in this field believe AV is the key to enhancing safety, others believe AV creates new challenges when it comes to ensuring the security of these new technology/systems and applications. The article conducts a systematic literature review on the relationship between autonomous vehicle technology and traffic-related mortality. According to inclusion and exclusion criteria, articles from EBSCO, ProQuest, IEEE Explorer, Web of Science were chosen, and they were then sorted. The findings reveal that the most of these publications have been published in advanced transport-related journals. Future improvements in the automobile industry and the development of intelligent transportation systems could help reduce the number of fatal traffic accidents. Technologies for autonomous cars provide effective ways to enhance the driving experience and reduce the number of traffic accidents. A multitude of driving-related problems, such as crashes, traffic, energy usage, and environmental pollution, will be helped by autonomous driving technology. More research is needed for the significant majority of the studies that were assessed. They need to be expanded so that they can be tested in real-world or computer-simulated scenarios, in better and more realistic scenarios, with better and more data, and in experimental designs where the results of the proposed strategy are compared to those of industry standards and competing strategies. Therefore, additional study with improved methods is needed. Another major area that requires additional research is the moral and ethical choices made by AVs. Government, policy makers, manufacturers, and designers all need to do many actions in order to deploy autonomous vehicles on the road effectively. The government should develop laws, rules, and an action plan in particular. It is important to create more effective programs that might encourage the adoption of emerging technology in transportation systems, such as driverless vehicles. In this regard, user perception becomes essential since it may inform designers about current issues and observations made by people. The perceptions of autonomous car users in developing countries like Azerbaijan haven't been thoroughly studied up to this point. The manufacturer has to fix the system flaw and needs a good data set for efficient operation. In the not-too-distant future, the widespread use of highly automated vehicles (AVs) may open up intriguing new possibilities for resolving persistent issues in current safety-related research. Further research is required to better understand and quantify the significant policy implications of Avs, taking into consideration factors like penetration rate, public adoption, technological advancements, traffic patterns, and business models. It only needs to take into account peer-reviewed, full-text journal papers for the investigation, but it's clear that a larger database and more documents would provide more results and a more thorough analysis.자율주행차(AV)를 통해 교통 흐름이 개선되고 사고가 줄어드는 등 사회가 얻는 것이 많을 것으로 예상된다. 그들은 다양한 인공지능(AI) 프로세스와 전략의 개선에 크게 의존한다. 이 분야의 일부 연구자들은 AV가 안전성을 향상시키는 열쇠라고 믿지만, 다른 연구자들은 AV가 이러한 새로운 기술/시스템 및 애플리케이션의 보안을 보장하는 것과 관련하여 새로운 문제를 야기한다고 믿는다. 이 논문은 자율주행차 기술과 교통 관련 사망률 사이의 관계에 대한 체계적인 문헌 검토를 수행한다. 포함 및 제외 기준에 따라 EBSCO, ProQuest, IEEE Explorer 및 Web of Science의 기사를 선택하고 분류했다.연구 결과는 이러한 출판물의 대부분이 고급 운송 관련 저널에 게재되었음을 보여준다. 미래의 자동차 산업의 개선과 지능형 교통 시스템의 개발은 치명적인 교통 사고의 수를 줄이는 데 도움이 될 수 있다. 자율주행 자동차 기술은 운전 경험을 향상시키고 교통 사고의 수를 줄일 수 있는 효과적인 방법을 제공한다. 충돌, 교통, 에너지 사용, 환경 오염과 같은 수많은 운전 관련 문제들은 자율 주행 기술에 의해 도움을 받을 것이다. 평가된 대부분의 연구에 대해 더 많은 연구가 필요하다. 실제 또는 컴퓨터 시뮬레이션 시나리오, 더 좋고 현실적인 시나리오, 더 좋고 더 많은 데이터, 그리고 제안된 전략 결과가 산업 표준 및 경쟁 전략의 결과와 비교되는 실험 설계에서 테스트될 수 있도록 확장되어야 한다. 따라서 개선된 방법에 대한 추가 연구가 필요하다. 추가 연구가 필요한 또 다른 주요 분야는 AV의 도덕적, 윤리적 선택이다. 정부, 정책 입안자, 제조업체 및 설계자는 모두 자율 주행 차량을 효과적으로 도로에 배치하기 위해 많은 조치를 취해야 한다. 정부는 특히 법, 규칙, 실행 계획을 개발해야 한다. 운전자 없는 차량과 같은 운송 시스템에서 새로운 기술의 채택을 장려할 수 있는 보다 효과적인 프로그램을 만드는 것이 중요하다. 이와 관련하여, 설계자에게 현재 이슈와 사람에 의한 관찰을 알려줄 수 있기 때문에 사용자 인식이 필수적이 된다.제조업체는 시스템 결함을 수정해야 하며 효율적인 작동을 위해 좋은 데이터 세트가 필요하다. 멀지 않은 미래에, 고도로 자동화된 차량(AV)의 광범위한 사용은 현재의 안전 관련 연구에서 지속적인 문제를 해결하기 위한 흥미로운 새로운 가능성을 열어줄 수 있다. 보급률, 공공 채택, 기술 발전, 교통 패턴 및 비즈니스 모델과 같은 요소를 고려하여 Avs의 중요한 정책 영향을 더 잘 이해하고 정량화하기 위한 추가 연구가 필요하다. 조사를 위해 동료 검토를 거친 전문 저널 논문만 고려하면 되지만, 데이터베이스가 커지고 문서가 많아지면 더 많은 결과와 더 철저한 분석이 제공될 것이 분명하다.Abstract 3 Table of Contents 6 List of Tables 7 List of Figures 7 List of Appendix 7 CHAPTER 1: INTRODUCTION 8 1.1. Background 8 1.2. Purpose of Research 13 CHAPTER 2: AUTONOMOUS VEHICLES 21 2.1. Intelligent Traffic Systems 21 2.2. System Architecture for Autonomous Vehicles 22 2.3. Key components in AV classification 27 CHAPTER 3: METHODOLOGY AND DATA COLLECTION PROCEDURE 35 CHAPTER 4: FINDINGS AND DISCUSSION 39 4.1. RQ1: Do autonomous vehicles reduce traffic-related deaths 40 4.2. RQ2: Are there any challenges to using autonomous vehicles 63 4.3. RQ3: As a developing country, how effective is the use of autonomous vehicles for reducing traffic mortality 72 CHAPTER 5: CONCLUSION 76 5.1. Summary 76 5.2. Implications and Recommendations 80 5.3. Limitation of the study 91 Bibliography 93 List of Tables Table 1: The 6 Levels of Autonomous Vehicles Table 2: Search strings Table 3: Inclusion and exclusion criteria List of Figures Figure 1: Traffic Death Comparison with Europe Figure 2: Research strategy and study selection process List of Appendix Appendix 1: List of selected articles석

Wide-Area Surveillance System using a UAV Helicopter Interceptor and Sensor Placement Planning Techniques

This project proposes and describes the implementation of a wide-area surveillance system comprised of a sensor/interceptor placement planning and an interceptor unmanned aerial vehicle (UAV) helicopter. Given the 2-D layout of an area, the planning system optimally places perimeter cameras based on maximum coverage and minimal cost. Part of this planning system includes the MATLAB implementation of Erdem and Sclaroff’s Radial Sweep algorithm for visibility polygon generation. Additionally, 2-D camera modeling is proposed for both fixed and PTZ cases. Finally, the interceptor is also placed to minimize shortest-path flight time to any point on the perimeter during a detection event. Secondly, a basic flight control system for the UAV helicopter is designed and implemented. The flight control system’s primary goal is to hover the helicopter in place when a human operator holds an automatic-flight switch. This system represents the first step in a complete waypoint-navigation flight control system. The flight control system is based on an inertial measurement unit (IMU) and a proportional-integral-derivative (PID) controller. This system is implemented using a general-purpose personal computer (GPPC) running Windows XP and other commercial off-the-shelf (COTS) hardware. This setup differs from other helicopter control systems which typically use custom embedded solutions or micro-controllers. Experiments demonstrate the sensor placement planning achieving \u3e90% coverage at optimized-cost for several typical areas given multiple camera types and parameters. Furthermore, the helicopter flight control system experiments achieve hovering success over short flight periods. However, the final conclusion is that the COTS IMU is insufficient for high-speed, high-frequency applications such as a helicopter control system

Intelligent Robotic Behaviors for Landmine Detection and Marking

This article discusses experimental results achieved with a robotic countermine system that utilizes autonomous behaviors and a mixed-initiative control scheme to address the challenges of detecting and marking buried landmines. By correlating aerial imagery and ground-based robot mapping, the interface provides context for the operator to task the robot. Once tasked, the robot can perform the search and detection task without the use of accurate global positioning system information or continuous communication with the operator. Results show that the system was able to find and mark landmines with a very low level of human involvement. In addition, the data indicates that the robotic system may be able to decrease the time to find mines and increase the detection, accuracy and reliability

Single-Shot Global Localization via Graph-Theoretic Correspondence Matching

This paper describes a method of global localization based on graph-theoretic association of instances between a query and the prior map. The proposed framework employs correspondence matching based on the maximum clique problem (MCP). The framework is potentially applicable to other map and/or query modalities thanks to the graph-based abstraction of the problem, while many of existing global localization methods rely on a query and the dataset in the same modality. We implement it with a semantically labeled 3D point cloud map, and a semantic segmentation image as a query. Leveraging the graph-theoretic framework, the proposed method realizes global localization exploiting only the map and the query. The method shows promising results on multiple large-scale simulated maps of urban scenes

Distributed Coverage Verification in Sensor Networks Without Location Information

In this paper, we present three distributed algorithms for coverage verification in sensor networks with no location information. We demonstrate how, in the absence of localization devices, simplicial complexes and tools from algebraic topology can be used in providing valuable information about the properties of the cover. Our approach is based on computation of homologies of the Rips complex corresponding to the sensor network. First, we present a decentralized scheme based on Laplacian flows to compute a generator of the first homology, which represents coverage holes. Then, we formulate the problem of localizing coverage holes as an optimization problem for computing a sparse generator of the first homology. Furthermore, we show that one can detect redundancies in the sensor network by finding a sparse generator of the second homology of the cover relative to its boundary. We demonstrate how subgradient methods can be used in solving these optimization problems in a distributed manner. Finally, we provide simulations that illustrate the performance of our algorithms