4,501 research outputs found
Quality of Information in Mobile Crowdsensing: Survey and Research Challenges
Smartphones have become the most pervasive devices in people's lives, and are
clearly transforming the way we live and perceive technology. Today's
smartphones benefit from almost ubiquitous Internet connectivity and come
equipped with a plethora of inexpensive yet powerful embedded sensors, such as
accelerometer, gyroscope, microphone, and camera. This unique combination has
enabled revolutionary applications based on the mobile crowdsensing paradigm,
such as real-time road traffic monitoring, air and noise pollution, crime
control, and wildlife monitoring, just to name a few. Differently from prior
sensing paradigms, humans are now the primary actors of the sensing process,
since they become fundamental in retrieving reliable and up-to-date information
about the event being monitored. As humans may behave unreliably or
maliciously, assessing and guaranteeing Quality of Information (QoI) becomes
more important than ever. In this paper, we provide a new framework for
defining and enforcing the QoI in mobile crowdsensing, and analyze in depth the
current state-of-the-art on the topic. We also outline novel research
challenges, along with possible directions of future work.Comment: To appear in ACM Transactions on Sensor Networks (TOSN
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
Dynamic Occupancy Grid Prediction for Urban Autonomous Driving: A Deep Learning Approach with Fully Automatic Labeling
Long-term situation prediction plays a crucial role in the development of
intelligent vehicles. A major challenge still to overcome is the prediction of
complex downtown scenarios with multiple road users, e.g., pedestrians, bikes,
and motor vehicles, interacting with each other. This contribution tackles this
challenge by combining a Bayesian filtering technique for environment
representation, and machine learning as long-term predictor. More specifically,
a dynamic occupancy grid map is utilized as input to a deep convolutional
neural network. This yields the advantage of using spatially distributed
velocity estimates from a single time step for prediction, rather than a raw
data sequence, alleviating common problems dealing with input time series of
multiple sensors. Furthermore, convolutional neural networks have the inherent
characteristic of using context information, enabling the implicit modeling of
road user interaction. Pixel-wise balancing is applied in the loss function
counteracting the extreme imbalance between static and dynamic cells. One of
the major advantages is the unsupervised learning character due to fully
automatic label generation. The presented algorithm is trained and evaluated on
multiple hours of recorded sensor data and compared to Monte-Carlo simulation
Training of Crisis Mappers and Map Production from Multi-sensor Data: Vernazza Case Study (Cinque Terre National Park, Italy)
This aim of paper is to presents the development of a multidisciplinary project carried out by the cooperation between Politecnico di Torino and ITHACA (Information Technology for Humanitarian Assistance, Cooperation and Action). The goal of the project was the training in geospatial data acquiring and processing for students attending Architecture and Engineering Courses, in order to start up a team of "volunteer mappers". Indeed, the project is aimed to document the environmental and built heritage subject to disaster; the purpose is to improve the capabilities of the actors involved in the activities connected in geospatial data collection, integration and sharing. The proposed area for testing the training activities is the Cinque Terre National Park, registered in the World Heritage List since 1997. The area was affected by flood on the 25th of October 2011. According to other international experiences, the group is expected to be active after emergencies in order to upgrade maps, using data acquired by typical geomatic methods and techniques such as terrestrial and aerial Lidar, close-range and aerial photogrammetry, topographic and GNSS instruments etc.; or by non conventional systems and instruments such us UAV, mobile mapping etc. The ultimate goal is to implement a WebGIS platform to share all the data collected with local authorities and the Civil Protectio
Towards Mobility Data Science (Vision Paper)
Mobility data captures the locations of moving objects such as humans,
animals, and cars. With the availability of GPS-equipped mobile devices and
other inexpensive location-tracking technologies, mobility data is collected
ubiquitously. In recent years, the use of mobility data has demonstrated
significant impact in various domains including traffic management, urban
planning, and health sciences. In this paper, we present the emerging domain of
mobility data science. Towards a unified approach to mobility data science, we
envision a pipeline having the following components: mobility data collection,
cleaning, analysis, management, and privacy. For each of these components, we
explain how mobility data science differs from general data science, we survey
the current state of the art and describe open challenges for the research
community in the coming years.Comment: Updated arXiv metadata to include two authors that were missing from
the metadata. PDF has not been change
AutoGraph: Predicting Lane Graphs from Traffic Observations
Lane graph estimation is a long-standing problem in the context of autonomous
driving. Previous works aimed at solving this problem by relying on
large-scale, hand-annotated lane graphs, introducing a data bottleneck for
training models to solve this task. To overcome this limitation, we propose to
use the motion patterns of traffic participants as lane graph annotations. In
our AutoGraph approach, we employ a pre-trained object tracker to collect the
tracklets of traffic participants such as vehicles and trucks. Based on the
location of these tracklets, we predict the successor lane graph from an
initial position using overhead RGB images only, not requiring any human
supervision. In a subsequent stage, we show how the individual successor
predictions can be aggregated into a consistent lane graph. We demonstrate the
efficacy of our approach on the UrbanLaneGraph dataset and perform extensive
quantitative and qualitative evaluations, indicating that AutoGraph is on par
with models trained on hand-annotated graph data. Model and dataset will be
made available at redacted-for-review.Comment: 8 pages, 6 figure
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