A machine learning approach to pedestrian detection for autonomous vehicles using High-Definition 3D Range Data

This article describes an automated sensor-based system to detect pedestrians in an autonomous vehicle application. Although the vehicle is equipped with a broad set of sensors, the article focuses on the processing of the information generated by a Velodyne HDL-64E LIDAR sensor. The cloud of points generated by the sensor (more than 1 million points per revolution) is processed to detect pedestrians, by selecting cubic shapes and applying machine vision and machine learning algorithms to the XY, XZ, and YZ projections of the points contained in the cube. The work relates an exhaustive analysis of the performance of three different machine learning algorithms: k-Nearest Neighbours (kNN), Naïve Bayes classifier (NBC), and Support Vector Machine (SVM). These algorithms have been trained with 1931 samples. The final performance of the method, measured a real traffic scenery, which contained 16 pedestrians and 469 samples of non-pedestrians, shows sensitivity (81.2%), accuracy (96.2%) and specificity (96.8%).This work was partially supported by ViSelTR (ref. TIN2012-39279) and cDrone (ref. TIN2013-45920-R) projects of the Spanish Government, and the “Research Programme for Groups of Scientific Excellence at Region of Murcia” of the Seneca Foundation (Agency for Science and Technology of the Region of Murcia—19895/GERM/15). 3D LIDAR has been funded by UPCA13-3E-1929 infrastructure projects of the Spanish Government. Diego Alonso wishes to thank the Spanish Ministerio de Educación, Cultura y Deporte, Subprograma Estatal de Movilidad, Plan Estatal de Investigación Científica y Técnica y de Innovación 2013–2016 for grant CAS14/00238

REQUITE: A prospective multicentre cohort study of patients undergoing radiotherapy for breast, lung or prostate cancer

Purpose: REQUITE aimed to establish a resource for multi-national validation of models and biomarkers that predict risk of late toxicity following radiotherapy. The purpose of this article is to provide summary descriptive data. Methods: An international, prospective cohort study recruited cancer patients in 26 hospitals in eight countries between April 2014 and March 2017. Target recruitment was 5300 patients. Eligible patients had breast, prostate or lung cancer and planned potentially curable radiotherapy. Radiotherapy was prescribed according to local regimens, but centres used standardised data collection forms. Pre-treatment blood samples were collected. Patients were followed for a minimum of 12 (lung) or 24 (breast/prostate) months and summary descriptive statistics were generated. Results: The study recruited 2069 breast (99% of target), 1808 prostate (86%) and 561 lung (51%) cancer patients. The centralised, accessible database includes: physician-(47,025 forms) and patient-(54,901) reported outcomes; 11,563 breast photos; 17,107 DICOMs and 12,684 DVHs. Imputed genotype data are available for 4223 patients with European ancestry (1948 breast, 1728 prostate, 547 lung). Radiation-induced lymphocyte apoptosis (RILA) assay data are available for 1319 patients. DNA (n = 4409) and PAXgene tubes (n = 3039) are stored in the centralised biobank. Example prevalences of 2-year (1-year for lung) grade >= 2 CTCAE toxicities are 13% atrophy (breast), 3% rectal bleeding (prostate) and 27% dyspnoea (lung). Conclusion: The comprehensive centralised database and linked biobank is a valuable resource for the radiotherapy community for validating predictive models and biomarkers. Patient summary: Up to half of cancer patients undergo radiation therapy and irradiation of surrounding healthy tissue is unavoidable. Damage to healthy tissue can affect short-and long-term quality-of-life. Not all patients are equally sensitive to radiation "damage" but it is not possible at the moment to identify those who are. REQUITE was established with the aim of trying to understand more about how we could predict radiation sensitivity. The purpose of this paper is to provide an overview and summary of the data and material available. In the REQUITE study 4400 breast, prostate and lung cancer patients filled out questionnaires and donated blood. A large amount of data was collected in the same way. With all these data and samples a database and biobank were created that showed it is possible to collect this kind of information in a standardised way across countries. In the future, our database and linked biobank will be a resource for research and validation of clinical predictors and models of radiation sensitivity. REQUITE will also enable a better understanding of how many people suffer with radiotherapy toxicity

Extended Object Tracking: Introduction, Overview and Applications

This article provides an elaborate overview of current research in extended object tracking. We provide a clear definition of the extended object tracking problem and discuss its delimitation to other types of object tracking. Next, different aspects of extended object modelling are extensively discussed. Subsequently, we give a tutorial introduction to two basic and well used extended object tracking approaches - the random matrix approach and the Kalman filter-based approach for star-convex shapes. The next part treats the tracking of multiple extended objects and elaborates how the large number of feasible association hypotheses can be tackled using both Random Finite Set (RFS) and Non-RFS multi-object trackers. The article concludes with a summary of current applications, where four example applications involving camera, X-band radar, light detection and ranging (lidar), red-green-blue-depth (RGB-D) sensors are highlighted.Comment: 30 pages, 19 figure

Dual Quaternion Sample Reduction for SE(2) Estimation

We present a novel sample reduction scheme for random variables belonging to the SE(2) group by means of Dirac mixture approximation. For this, dual quaternions are employed to represent uncertain planar transformations. The Cramér–von Mises distance is modified as a smooth metric to measure the statistical distance between Dirac mixtures on the manifold of planar dual quaternions. Samples of reduced size are then obtained by minimizing the probability divergence via Riemannian optimization while interpreting the correlation between rotation and translation. We further deploy the proposed scheme for nonparametric modeling of estimates for nonlinear SE(2) estimation. Simulations show superior tracking performance of the sample reduction-based filter compared with Monte Carlo-based as well as parametric model-based planar dual quaternion filters

Predictive tracking with improved motion models for optical belt sorting

Optical belt sorters are a versatile means to sort bulk materials. In previous work, we presented a novel design of an optical belt sorter, which includes an area scan camera instead of a line scan camera. Line scan cameras, which are well-established in optical belt sorting, only allow for a single observation of each particle. Using multitarget tracking, the data of the area scan camera can be used to derive a part of the trajectory of each particle. The knowledge of the trajectories can be used to generate accurate predictions as to when and where each particle passes the separation mechanism. Accurate predictions are key to achieve high quality sorting results. The accuracy of the trajectories and the predictions heavily depends on the motion model used. In an evaluation based on a simulation that provides us with ground truth trajectories, we previously identified a bias in the temporal component of the prediction. In this paper, we analyze the simulation-based ground truth data of the motion of different bulk materials and derive models specifically tailored to the generation of accurate predictions for particles traveling on a conveyor belt. The derived models are evaluated using simulation data involving three different bulk materials. The evaluation shows that the constant velocity model and constant acceleration model can be outperformed by utilizing the similarities in the motion behavior of particles of the same type