34 research outputs found

    Pre-Trained Driving in Localized Surroundings with Semantic Radar Information and Machine Learning

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    Entlang der Signalverarbeitungskette von Radar Detektionen bis zur Fahrzeugansteuerung, diskutiert diese Arbeit eine semantischen Radar Segmentierung, einen darauf aufbauenden Radar SLAM, sowie eine im Verbund realisierte autonome Parkfunktion. Die Radarsegmentierung der (statischen) Umgebung wird durch ein Radar-spezifisches neuronales Netzwerk RadarNet erreicht. Diese Segmentierung ermöglicht die Entwicklung des semantischen Radar Graph-SLAM SERALOC. Auf der Grundlage der semantischen Radar SLAM Karte wird eine beispielhafte autonome ParkfunktionalitĂ€t in einem realen VersuchstrĂ€ger umgesetzt. Entlang eines aufgezeichneten Referenzfades parkt die Funktion ausschließlich auf Basis der Radar Wahrnehmung mit bisher unerreichter Positioniergenauigkeit. Im ersten Schritt wird ein Datensatz von 8.2 · 10^6 punktweise semantisch gelabelten Radarpunktwolken ĂŒber eine Strecke von 2507.35m generiert. Es sind keine vergleichbaren DatensĂ€tze dieser Annotationsebene und Radarspezifikation öffentlich verfĂŒgbar. Das ĂŒberwachte Training der semantischen Segmentierung RadarNet erreicht 28.97% mIoU auf sechs Klassen. Außerdem wird ein automatisiertes Radar-Labeling-Framework SeRaLF vorgestellt, welches das Radarlabeling multimodal mittels Referenzkameras und LiDAR unterstĂŒtzt. FĂŒr die kohĂ€rente Kartierung wird ein Radarsignal-Vorfilter auf der Grundlage einer Aktivierungskarte entworfen, welcher Rauschen und andere dynamische Mehrwegreflektionen unterdrĂŒckt. Ein speziell fĂŒr Radar angepasstes Graph-SLAM-Frontend mit Radar-Odometrie Kanten zwischen Teil-Karten und semantisch separater NDT Registrierung setzt die vorgefilterten semantischen Radarscans zu einer konsistenten metrischen Karte zusammen. Die Kartierungsgenauigkeit und die Datenassoziation werden somit erhöht und der erste semantische Radar Graph-SLAM fĂŒr beliebige statische Umgebungen realisiert. Integriert in ein reales Testfahrzeug, wird das Zusammenspiel der live RadarNet Segmentierung und des semantischen Radar Graph-SLAM anhand einer rein Radar-basierten autonomen ParkfunktionalitĂ€t evaluiert. Im Durchschnitt ĂŒber 42 autonome Parkmanöver (∅3.73 km/h) bei durchschnittlicher ManöverlĂ€nge von ∅172.75m wird ein Median absoluter Posenfehler von 0.235m und End-Posenfehler von 0.2443m erreicht, der vergleichbare Radar-Lokalisierungsergebnisse um ≈ 50% ĂŒbertrifft. Die Kartengenauigkeit von verĂ€nderlichen, neukartierten Orten ĂŒber eine Kartierungsdistanz von ∅165m ergibt eine ≈ 56%-ige Kartenkonsistenz bei einer Abweichung von ∅0.163m. FĂŒr das autonome Parken wurde ein gegebener Trajektorienplaner und Regleransatz verwendet

    Brain Computations and Connectivity [2nd edition]

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    This is an open access title available under the terms of a CC BY-NC-ND 4.0 International licence. It is free to read on the Oxford Academic platform and offered as a free PDF download from OUP and selected open access locations. Brain Computations and Connectivity is about how the brain works. In order to understand this, it is essential to know what is computed by different brain systems; and how the computations are performed. The aim of this book is to elucidate what is computed in different brain systems; and to describe current biologically plausible computational approaches and models of how each of these brain systems computes. Understanding the brain in this way has enormous potential for understanding ourselves better in health and in disease. Potential applications of this understanding are to the treatment of the brain in disease; and to artificial intelligence which will benefit from knowledge of how the brain performs many of its extraordinarily impressive functions. This book is pioneering in taking this approach to brain function: to consider what is computed by many of our brain systems; and how it is computed, and updates by much new evidence including the connectivity of the human brain the earlier book: Rolls (2021) Brain Computations: What and How, Oxford University Press. Brain Computations and Connectivity will be of interest to all scientists interested in brain function and how the brain works, whether they are from neuroscience, or from medical sciences including neurology and psychiatry, or from the area of computational science including machine learning and artificial intelligence, or from areas such as theoretical physics

    Treatise on Hearing: The Temporal Auditory Imaging Theory Inspired by Optics and Communication

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    A new theory of mammalian hearing is presented, which accounts for the auditory image in the midbrain (inferior colliculus) of objects in the acoustical environment of the listener. It is shown that the ear is a temporal imaging system that comprises three transformations of the envelope functions: cochlear group-delay dispersion, cochlear time lensing, and neural group-delay dispersion. These elements are analogous to the optical transformations in vision of diffraction between the object and the eye, spatial lensing by the lens, and second diffraction between the lens and the retina. Unlike the eye, it is established that the human auditory system is naturally defocused, so that coherent stimuli do not react to the defocus, whereas completely incoherent stimuli are impacted by it and may be blurred by design. It is argued that the auditory system can use this differential focusing to enhance or degrade the images of real-world acoustical objects that are partially coherent. The theory is founded on coherence and temporal imaging theories that were adopted from optics. In addition to the imaging transformations, the corresponding inverse-domain modulation transfer functions are derived and interpreted with consideration to the nonuniform neural sampling operation of the auditory nerve. These ideas are used to rigorously initiate the concepts of sharpness and blur in auditory imaging, auditory aberrations, and auditory depth of field. In parallel, ideas from communication theory are used to show that the organ of Corti functions as a multichannel phase-locked loop (PLL) that constitutes the point of entry for auditory phase locking and hence conserves the signal coherence. It provides an anchor for a dual coherent and noncoherent auditory detection in the auditory brain that culminates in auditory accommodation. Implications on hearing impairments are discussed as well.Comment: 603 pages, 131 figures, 13 tables, 1570 reference

    The Red Years of Cahiers du cinéma (1968-1973): Volume II, Aesthetics and Ontology

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    The uprising which shook France in May 1968 also had a revolutionary effect on the country's most prominent film journal. Under editors Jean-Louis Comolli and Jean Narboni, Cahiers du cinéma embarked on a militant turn that would govern the journal's work over the next five years. With a Marxist orientation inspired by the thinking of Louis Althusser, Jacques Lacan and Roland Barthes, the "red years" of Cahiers du cinéma produced a theoretical outpouring that was formative for the establishment of film studies as an academic discipline in the 1970s, and is still of vital relevance for the contemporary audiovisual landscape. It was also the seminal experience for a generation of critics who have dedicated the following half-century to the task of critically responding to the cinema. The Red Years of Cahiers du Cinéma (1968-1973) gives a historical overview of this period in the journal's history, combining biographical accounts of the critics who were involved with Cahiers in the post-1968 and theoretical explorations of the text they wrote

    Underwater Vehicles

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    For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties

    History of Psychology

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    Openly licensed anthology focused on the theme of the History of Psychology. Contains: The Mind and the Brain by Alfred Binet; Dream Psychology: Psychoanalysis for Beginners by Sigmund Freud; The Principles of Psychology, Volume 1 (of 2) by William James; The Principles of Psychology, Volume 2 (of 2) by William James; Collected Papers on Analytical Psychology by C. G. Jung; Memoirs of Extraordinary Popular Delusions and the Madness of Crowds by Charles Mackay; The Psychology of Arithmetic by Edward L. Thorndike

    A critical review of the current state of forensic science knowledge and its integration in legal systems

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    Forensic science has a significant historical and contemporary relationship with the criminal justice system. It is a relationship between two disciplines whose origins stem from different backgrounds. It is trite that effective communication assist in resolving underlying problems in any given context. However, a lack of communication continues to characterise the intersection between law and science. As recently as 2019, a six-part symposium on the use of forensic science in the criminal justice system again posed the question on how the justice system could ensure the reliability of forensic science evidence presented during trials. As the law demands finality, science is always evolving and can never be considered finite or final. Legal systems do not always adapt to the nature of scientific knowledge, and are not willing to abandon finality when that scientific knowledge shifts. Advocacy plays an important role in the promotion of forensic science, particularly advocacy to the broader scientific community for financial support, much needed research and more testing. However, despite its important function, advocacy should not be conflated with science. The foundation of advocacy is a cause; whereas the foundation of science is fact. The objective of this research was to conduct a qualitative literature review of the field of forensic science; to identify gaps in the knowledge of forensic science and its integration in the criminal justice system. The literature review will provide researchers within the field of forensic science with suggested research topics requiring further examination and research. To achieve its objective, the study critically analysed the historical development of, and evaluated the use of forensic science evidence in legal systems generally, including its role regarding the admissibility or inadmissibility of the evidence in the courtroom. In conclusion, it was determined that the breadth of forensic scientific knowledge is comprehensive but scattered. The foundational underpinning of the four disciplines, discussed in this dissertation, has been put to the legal test on countless occasions. Some gaps still remain that require further research in order to strengthen the foundation of the disciplines. Human influence will always be present in examinations and interpretations and will lean towards subjective decision making.JurisprudenceD. Phil

    Feature-Based Probabilistic Data Association for Video-Based Multi-Object Tracking

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    This work proposes a feature-based probabilistic data association and tracking approach (FBPDATA) for multi-object tracking. FBPDATA is based on re-identification and tracking of individual video image points (feature points) and aims at solving the problems of partial, split (fragmented), bloated or missed detections, which are due to sensory or algorithmic restrictions, limited field of view of the sensors, as well as occlusion situations
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