Visual and light detection and ranging-based simultaneous localization and mapping for self-driving cars

In recent years, there has been a strong demand for self-driving cars. For safe navigation, self-driving cars need both precise localization and robust mapping. While global navigation satellite system (GNSS) can be used to locate vehicles, it has some limitations, such as satellite signal absence (tunnels and caves), which restrict its use in urban scenarios. Simultaneous localization and mapping (SLAM) are an excellent solution for identifying a vehicle’s position while at the same time constructing a representation of the environment. SLAM-based visual and light detection and ranging (LIDAR) refer to using cameras and LIDAR as source of external information. This paper presents an implementation of SLAM algorithm for building a map of environment and obtaining car’s trajectory using LIDAR scans. A detailed overview of current visual and LIDAR SLAM approaches has also been provided and discussed. Simulation results referred to LIDAR scans indicate that SLAM is convenient and helpful in localization and mapping

A Potential Field-Based Model Predictive Path-Planning Controller for Autonomous Road Vehicles

© IEEE 2017. Rasekhipour, Y., Khajepour, A., Chen, S.-K., & Litkouhi, B. (2016). A Potential Field-Based Model Predictive Path-Planning Controller for Autonomous Road Vehicles. IEEE Transactions on Intelligent Transportation Systems, 18(5), 1255–1267. https://doi.org/10.1109/TITS.2016.2604240Artificial potential fields and optimal controllers are two common methods for path planning of autonomous vehicles. An artificial potential field method is capable of assigning different potential functions to different types of obstacles and road structures and plans the path based on these potential functions. It does not, however, include the vehicle dynamics in the path-planning process. On the other hand, an optimal path-planning controller integrated with vehicle dynamics plans an optimal feasible path that guarantees vehicle stability in following the path. In this method, the obstacles and road boundaries are usually included in the optimal control problem as constraints and not with any arbitrary function. A model predictive path-planning controller is introduced in this paper such that its objective includes potential functions along with the vehicle dynamics terms. Therefore, the path-planning system is capable of treating different obstacles and road structures distinctly while planning the optimal path utilizing vehicle dynamics. The path-planning controller is modeled and simulated on a CarSim vehicle model for some complicated test scenarios. The results show that, with this path-planning controller, the vehicle avoids the obstacles and observes road regulations with appropriate vehicle dynamics. Moreover, since the obstacles and road regulations can be defined with different functions, the path-planning system plans paths corresponding to their importance and priorities

Desarrollo de un bastón electrónico para mejorar la movilidad de personas con discapacidad visual apoyado mediante visión artificial.

El bastón electrónico apoyado con visión artificial permite mejorar la movilidad y seguridad de las personas con discapacidad visual; se encuentra dotado de un sistema embebido, que permite realizar el control de todos los sistemas para la detección de obstáculos, mensajes de texto con ubicación y detección de formas con visión artificial. Cuenta con un motor vibratorio para la detección de obstáculos, cámara para el reconocimiento de formas y sonidos para la guía de la persona en recorridos seguros. Para la primera parte se determinó realizar la variación de vibración de forma inversa a la distancia del obstáculo para determinar la cercanía al mismo en el recorrido; el sistema de ubicación cuenta con dos alternativas. La primera en el caso de querer conocer la ubicación de la persona, el familiar realiza el envío de un mensaje de texto, el sistema reconoce la ubicación y le responde mediante un mensaje de texto para acceder por medio de la aplicación Google Maps. La segunda alternativa está guiada para situaciones de emergencia cuando la persona requiera ayuda por medio del botón de pánico se realiza el envío de su ubicación a un contacto de emergencia. La visión artificial permite reconocer las flechas que se ubican en el suelo para recorridos seguros establecidos para las personas con discapacidad visual y sean guiados a través de audio con auriculares. Las pruebas de funcionamiento y validación se realizaron con integrantes de la Cátedra Unesco de la Universidad Politécnica Salesiana Campus El Girón.The electronic cane supported with artificial vision improves the mobility and safety of visually impaired people; it is equipped with an embedded system, which allows the control of all systems for the detection of obstacles, text messages with location and detection of shapes with artificial vision. It has a vibrating motor for detecting obstacles, a camera for recognizing shapes and sounds to guide the person on safe routes. For the first part it was determined to make the variation of vibration inversely to the distance of the obstacle to determine the proximity to it in the route; the location system has two alternatives. The first, in the case of wanting to know the location of the person, the relative sends a text message, the system recognizes the location and responds with a text message to access through the Google Maps application. The second alternative is guided for emergency situations when the person requires help through the panic button is sent from your location to an emergency contact. Artificial vision makes it possible to recognize the arrows that are placed on the ground for safe routes established for the visually impaired and are guided through audio with headphones. The operational and validation tests were carried out with members of the UNESCO Chair of the Salesian Polytechnic University Campus the Girón

モービルマッピングシステムと航空測量を用いた都市空間高精度３次元モデリング

学位の種別: 課程博士審査委員会委員 : （主査）東京大学教授 瀬崎 薫, 東京大学教授 江崎 浩, 東京大学教授 苗村 健, 東京大学教授 柴崎 亮介, 東京大学准教授 上條 俊介, 国際電気通信基礎技術研究所 浅見 徹University of Tokyo(東京大学

Towards a National 3D Mapping Product for Great Britain

Knowing where something happens and where people are located can be critically important to understand issues ranging from climate change to road accidents, crime, schooling, transport and much more. To analyse these spatial problems, two-dimensional representations of the world, such as paper or digital maps, have traditionally been used. Geographic information systems (GIS) are the tools that enable capture, modelling, storage, retrieval, sharing, manipulation, analysis, and presentation of geographically referenced data. Three-dimensional geographic information (3D GI) is data that can represent real-world features as objects in 3D space. 3D GI offers additional functionality not possible in 2D, including analysing and querying volume, visibility, surface and sub-surface, and shadowing. This thesis contributes to the understanding of user requirements and other data related considerations in the production of 3D geographic information at a national level. The study promotes Ordnance Survey’s efforts in developing a 3D geographic product through: (1) identifying potential applications; (2) analysing existing 3D city modelling approaches; (3) eliciting and formalising user requirements; (4) developing metrics to describe the usefulness of 3D data and; (5) evaluating the commerciality of 3D GI. A review of current applications of 3D showed that visualisation dominated as the main use, allowing for better communication, and supporting decision-making processes. Reflecting this, an examination of existing 3D city models showed that, despite the varying modelling approaches, there was a general focus towards accurate and realistic geometric representation of the urban environment. Web-based questionnaires and semi-structured interviews revealed that while some applications (e.g. subsurface, photovoltaics, air and noise quality) lead the field with a high adoption of 3D, others were laggards due to organisational inertia (e.g. insurance, facilities management). Individuals expressed positive views on the use of 3D, but still struggled to justify the value and business case. Simple building geometry coupled with non-building thematic classes was perceived to be most useful by users. Several metrics were developed to quantify and compare the characteristics of thirty-three 3D datasets. Results showed that geometry-based metrics such as minimum feature length or Euler characteristic can be used to provide additional information as part of fitness-for-purpose evaluations. The metrics can also contribute to quality control during data production. An investigation into the commercial opportunities explored the economic value of 3D, the market size of 3D data in Great Britain, as well as proposed a number of opportunities within the wider business context of Ordnance Survey