A Vision Based Top-View Transformation Model for a Vehicle Parking Assistant

This paper proposes the Top-View Transformation Model for image coordinate transformation, which involves transforming a perspective projection image into its corresponding bird's eye vision. A fitting parameters searching algorithm estimates the parameters that are used to transform the coordinates from the source image. Using this approach, it is not necessary to provide any interior and exterior orientation parameters of the camera. The designed car parking assistant system can be installed at the rear end of the car, providing the driver with a clearer image of the area behind the car. The processing time can be reduced by storing and using the transformation matrix estimated from the first image frame for a sequence of video images. The transformation matrix can be stored as the Matrix Mapping Table, and loaded into the embedded platform to perform the transformation. Experimental results show that the proposed approaches can provide a clearer and more accurate bird's eye view to the vehicle driver

Detection of Parking Space based on Occupancy Grids in Dynamic Environments for Autonomous Valet Parking

학위논문 (석사)-- 서울대학교 융합과학기술대학원 : 융합과학부(지능형융합시스템전공), 2016. 8. 박재흥.최근 자율주행 관련하여 활발한 연구가 진행되고 있는데 특히 자율발렛주차는 중요한 문제 중 하나이다. 자율발렛주차는 차량이 운전자 없이도 스스로 주차 가능한 공간을 찾아 목적지로 정하고, 그 목적지까지 안전하게 주차를 완료하는 기술이다. 이러한 자율발렛주차가 가능하기 위하여 주차장 환경인식이 요구된다. 본 연구는 자율발렛주차를 위한 주차 가능한 공간 인식에 그 목적이 있다. 이에 대한 기존 연구들은 대부분 차량 인식이나 주차구획 인식에만 집중해 있는데, 이는 복잡하고 동적 장애물이 많은 주차장 환경에서 충분한 정보를 제공하지 못한다. 본 논문은 Extended Evidential grid map을 주차 가능한 공간 인식에 적용을 제안한다. Dempster-Shafer이론에 기반한 Evidential grid map은 기존 점유격자지도의 물체 인식뿐만 아니라 동적인 물체를 구별해 낼 수 있다. 그러나 센서 인식범위의 한계와 차량들의 겹침 영역 때문에 주차구획의 점유여부 인식에 어려움이 있다. 본 연구에서는 이를 보완하기 위하여 겹침 영역에 대한 Occupied 확률의 확장을 제안하였다. 또한, 주차구획의 점유여부 판별이 어려운 공간에도 주차가능 후보들을 선정하여 주차가능 공간을 찾기 위한 경로 탐색에 효율성을 높이고자 하였다. 실외 주차장에서 실제 자율주행 자동차의 실험을 통하여 본 연구의 유용성을 확인하였다.1. 서 론 1 1.1 연구 목적 1 1.2 연구 배경 4 2. 자율발렛주차를 위한 격자지도 작성 22 2.1 확장된 증거이론 22 2.2 3차원 point cloud의 센서모델 24 3. 시스템 구성 26 3.1 자율주행자동차 26 3.2 환경인식 27 4. 실험 29 5. 결론 39 참고 문헌 41 Abstract 45Maste

TOWARDS SUSTAINABLE AUTONOMOUS VEHICLES

Ph.DDOCTOR OF PHILOSOPH

Mobi-System: towards an information system to support sustainable mobility with electric vehicle integration

Tese de doutoramento do Programa Doutoral em Líderes para as Indústrias Tecnológicas (Programa MIT-Portugal - Área EDAM)The current Thesis proposes the conceptual aspects and the preliminary prototype of a mobile information system to support information integration and manipulation towards the Electric Vehicle (EV) introduction, and the support of mobility process in urban environments, giving recommendations to drivers about EV range autonomy, charging stations, electricity market, and also as route planner taking into account public transportation, car or bike sharing systems. The main work objective is the creation of an Information and Communication Technology (ICT) platform based on successful approaches developed in the Computer Science Area, recommender systems, cooperative systems and mobile devices, to help the driver of EV by giving real time information related with EV charging process, range autonomy, electricity market participation, and also smart mobility process in cities by giving guidance towards best route options, taking into account time travel and CO2 emissions. Based on the analysis of the problem a conceptual system and a prototype application were created under the designation “Mobi-System”, designed to mobile devices, with relevant information oriented to: (1) EV charging process; (2) EV range autonomy; (3) electricity market participation; and (4) mobility process in smart cities of the future. In this work it was developed an application to store data related with EV charging/discharging process, for further intelligent analysis and remote interaction with the charging system, determining a smart charging procedure, taking into account the distribution electrical system limitations, and the creation of communities with participation in the electricity market. A range estimation and representation process is introduced as part of the help process to assist EV drivers. An Aggregator system and a collaborative broker for distributed energy sources are proposed, taking into account the electricity market. A proposal for data integration of different transportation sources and a multimodal best route path are proposed based on CO2 emissions and time travel.O presente trabalho consiste na concepção e discussão do sistema Mobi-System, que disponibiliza informação relevante para condutores de veículos elétricos (VE), tendo em conta os problemas dos carregamentos dos VE, a gestão da ansiedade de autonomia (range anxiety) dos condutores, a participação no mercado de energia elétrica, a integração das fontes de energia renováveis, bem como a integração de informação de transportes públicos e a criação de sistemas para gerir o problema da mobilidade sustentável em cidades inteligentes (smart cities). O objectivo principal do trabalho é o uso apropriado de Tecnologia da Informação e Comunicação (TIC) baseada em abordagens bem-sucedidas desenvolvidas na área da informática, como os sistemas de recomendação, sistemas cooperativos e dispositivos móveis para ajudar o condutor de VE, dando informações relevantes em tempo real, orientando o condutor para os pontos de carregamento públicos, ou para o melhor caminho tendo em conta o tempo e as políticas ambientais, nomeadamente as emissões de CO2. Com base na análise do problema, um sistema conceitual e uma aplicação protótipo foram criadas sob a designação de Mobi-System, projetada para dispositivos móveis com informações relevantes orientadas a: (1) processo de carregamento do VE feito num local público com a orientação e a reserva de slots de carregamento, ou em casa com a programação do processo de carregamento lento, tendo em conta limitações de potência; (2) gestão assistida da autonomia dos VE; (3) participação no mercado de energia, pela criação de comunidades de condutores com capacidade de participar no mercado de energia, dado o VE poder atuar como um armazenador de energia; e (4) processo de mobilidade em cidades inteligentes do futuro, com a proposta de integração de dados de diferentes tipos de transporte, com indicação do trajeto de melhor rota multimodal, proposto com base nas emissões de CO2 e no tempo das viagens

COBE's search for structure in the Big Bang

The launch of Cosmic Background Explorer (COBE) and the definition of Earth Observing System (EOS) are two of the major events at NASA-Goddard. The three experiments contained in COBE (Differential Microwave Radiometer (DMR), Far Infrared Absolute Spectrophotometer (FIRAS), and Diffuse Infrared Background Experiment (DIRBE)) are very important in measuring the big bang. DMR measures the isotropy of the cosmic background (direction of the radiation). FIRAS looks at the spectrum over the whole sky, searching for deviations, and DIRBE operates in the infrared part of the spectrum gathering evidence of the earliest galaxy formation. By special techniques, the radiation coming from the solar system will be distinguished from that of extragalactic origin. Unique graphics will be used to represent the temperature of the emitting material. A cosmic event will be modeled of such importance that it will affect cosmological theory for generations to come. EOS will monitor changes in the Earth's geophysics during a whole solar color cycle

Industrial Robotics

This book covers a wide range of topics relating to advanced industrial robotics, sensors and automation technologies. Although being highly technical and complex in nature, the papers presented in this book represent some of the latest cutting edge technologies and advancements in industrial robotics technology. This book covers topics such as networking, properties of manipulators, forward and inverse robot arm kinematics, motion path-planning, machine vision and many other practical topics too numerous to list here. The authors and editor of this book wish to inspire people, especially young ones, to get involved with robotic and mechatronic engineering technology and to develop new and exciting practical applications, perhaps using the ideas and concepts presented herein