A complete system to determine the speed limit by fusing a GIS and a camera

International audienceDetermining the speed limit on road is a complex task based on the Highway Code and the detection of temporary speed limits. In our system, these two aspects are managed by a GIS (Geographical Information System) and a camera respectively. The vision-based system aims at detecting the roadsigns as well as the subsigns and the lane markings to filter those applicable. The two sources of information are finally fused by using the Belief Theory to select the correct speed limit. The performance of a navigation-based system is increased by 19%

Context Exploitation in Data Fusion

Complex and dynamic environments constitute a challenge for existing tracking algorithms. For this reason, modern solutions are trying to utilize any available information which could help to constrain, improve or explain the measurements. So called Context Information (CI) is understood as information that surrounds an element of interest, whose knowledge may help understanding the (estimated) situation and also in reacting to that situation. However, context discovery and exploitation are still largely unexplored research topics. Until now, the context has been extensively exploited as a parameter in system and measurement models which led to the development of numerous approaches for the linear or non-linear constrained estimation and target tracking. More specifically, the spatial or static context is the most common source of the ambient information, i.e. features, utilized for recursive enhancement of the state variables either in the prediction or the measurement update of the filters. In the case of multiple model estimators, context can not only be related to the state but also to a certain mode of the filter. Common practice for multiple model scenarios is to represent states and context as a joint distribution of Gaussian mixtures. These approaches are commonly referred as the join tracking and classification. Alternatively, the usefulness of context was also demonstrated in aiding the measurement data association. Process of formulating a hypothesis, which assigns a particular measurement to the track, is traditionally governed by the empirical knowledge of the noise characteristics of sensors and operating environment, i.e. probability of detection, false alarm, clutter noise, which can be further enhanced by conditioning on context. We believe that interactions between the environment and the object could be classified into actions, activities and intents, and formed into structured graphs with contextual links translated into arcs. By learning the environment model we will be able to make prediction on the target\u2019s future actions based on its past observation. Probability of target future action could be utilized in the fusion process to adjust tracker confidence on measurements. By incorporating contextual knowledge of the environment, in the form of a likelihood function, in the filter measurement update step, we have been able to reduce uncertainties of the tracking solution and improve the consistency of the track. The promising results demonstrate that the fusion of CI brings a significant performance improvement in comparison to the regular tracking approaches

Map Validation for Autonomous Driving Systems

High-definition mapping is fundamental for self-driving vehicles. In this thesis we describe different approaches for online map validation whose goal is to verify if reality and map data are inconsistent. A probabilistic framework to perform the sensor fusion is defined and a spatial correlation is introduced to interpolate the information. The result is a probabilistic representation of the map whose assumed values represent the probability with which the map is valid in every point

Recognition Situations Using Extended Dempster-Shafer Theory

Weiser’s [111] vision of pervasive computing describes a world where technology seamlessly integrates into the environment, automatically responding to peoples’ needs. Underpinning this vision is the ability of systems to automatically track the situation of a person. The task of situation recognition is critical and complex: noisy and unreliable sensor data, dynamic situations, unpredictable human behaviour and changes in the environment all contribute to the complexity. No single recognition technique is suitable in all environments. Factors such as availability of training data, ability to deal with uncertain information and transparency to the user will determine which technique to use in any particular environment. In this thesis, we propose the use of Dempster-Shafer theory as a theoretically sound basis for situation recognition - an approach that can reason with uncertainty, but which does not rely on training data. We use existing operations from Dempster-Shafer theory and create new operations to establish an evidence decision network. The network is used to generate and assess situation beliefs based on processed sensor data for an environment. We also define two specific extensions to Dempster-Shafer theory to enhance the knowledge that can be used for reasoning: 1) temporal knowledge about situation time patterns 2) quality of evidence sources (sensors) into the reasoning process. To validate the feasibility of our approach, this thesis creates evidence decision networks for two real-world data sets: a smart home data set and an officebased data set. We analyse situation recognition accuracy for each of the data sets, using the evidence decision networks with temporal/quality extensions. We also compare the evidence decision networks against two learning techniques: Naïve Bayes and J48 Decision Tree

Advances and Applications of Dezert-Smarandache Theory (DSmT), Vol. 1

The Dezert-Smarandache Theory (DSmT) of plausible and paradoxical reasoning is a natural extension of the classical Dempster-Shafer Theory (DST) but includes fundamental differences with the DST. DSmT allows to formally combine any types of independent sources of information represented in term of belief functions, but is mainly focused on the fusion of uncertain, highly conflicting and imprecise quantitative or qualitative sources of evidence. DSmT is able to solve complex, static or dynamic fusion problems beyond the limits of the DST framework, especially when conflicts between sources become large and when the refinement of the frame of the problem under consideration becomes inaccessible because of vague, relative and imprecise nature of elements of it. DSmT is used in cybernetics, robotics, medicine, military, and other engineering applications where the fusion of sensors\u27 information is required

Advances and Applications of DSmT for Information Fusion

This book is devoted to an emerging branch of Information Fusion based on new approach for modelling the fusion problematic when the information provided by the sources is both uncertain and (highly) conflicting. This approach, known in literature as DSmT (standing for Dezert-Smarandache Theory), proposes new useful rules of combinations

Evidentialist Foundationalist Argumentation in Multi-Agent Systems

This dissertation focuses on the explicit grounding of reasoning in evidence directly sensed from the physical world. Based on evidence from human problem solving and successes, this is a straightforward basis for reasoning: to solve problems in the physical world, the information required for solving them must also come from the physical world. What is less straightforward is how to structure the path from evidence to conclusions. Many approaches have been applied to evidence-based reasoning, including probabilistic graphical models and Dempster-Shafer theory. However, with some exceptions, these traditional approaches are often employed to establish confidence in a single binary conclusion, like whether or not there is a blizzard, rather than developing complex groups of scalar conclusions, like where a blizzard's center is, what area it covers, how strong it is, and what components it has. To form conclusions of the latter kind, we employ and further develop the approach of Computational Argumentation. Specifically, this dissertation develops a novel approach to evidence-based argumentation called Evidentialist Foundationalist Argumentation (EFA). The method is a formal instantiation of the well-established Argumentation Service Platform with Integrated Components (ASPIC) framework. There are two primary approaches to Computational Argumentation. One approach is structured argumentation where arguments are structured with premises, inference rules, conclusions, and arguments based on the conclusions of other arguments, creating a tree-like structure. The other approach is abstract argumentation where arguments interact at a higher level through an attack relation. ASPIC unifies the two approaches. EFA instantiates ASPIC specifically for the purpose of reasoning about physical evidence in the form of sensor data. By restricting ASPIC specifically to sensor data, special philosophical and computational advantages are gained. Specifically, all premises in the system (evidence) can be treated as firmly grounded axioms and all arguments' conclusions can be numerically calculated directly from their premises. EFA could be used as the basis for well-justified, transparent reasoning in many domains including engineering, law, business, medicine, politics, and education. To test its utility as a basis for Computational Argumentation, we apply EFA to a Multi-Agent System working in the problem domain of Sensor Webs on the specific problem of Decentralized Sensor Fusion. In the Multi-Agent Decentralized Sensor Fusion problem, groups of individual agents are assigned to sensor stations that are distributed across a geographical area, forming a Sensor Web. The goal of the system is to strategically share sensor readings between agents to increase the accuracy of each individual agent's model of the geophysical sensing situation. For example, if there is a severe storm, a goal may be for each agent to have an accurate model of the storm's heading, severity, and focal points of activity. Also, since the agents are controlling a Sensor Web, another goal is to use communication judiciously so as to use power efficiently. To meet these goals, we design a Multi-Agent System called Investigative Argumentation-based Negotiating Agents (IANA). Agents in IANA use EFA as the basis for establishing arguments to model geophysical situations. Upon gathering evidence in the form of sensor readings, the agents form evidence-based arguments using EFA. The agents systematically compare the conclusions of their arguments to other agents. If the agents sufficiently agree on the geophysical situation, they end communication. If they disagree, then they share the evidence for their conclusions, consuming communication resources with the goal of increasing accuracy. They execute this interaction using a Share on Disagreement (SoD) protocol. IANA is evaluated against two other Multi-Agent System approaches on the basis of accuracy and communication costs, using historical real-world weather data. The first approach is all-to-all communication, called the Complete Data Sharing (CDS) approach. In this system, agents share all observations, maximizing accuracy but at a high communication cost. The second approach is based on Kalman Filtering of conclusions and is called the Conclusion Negotiation Only (CNO) approach. In this system, agents do not share any observations, and instead try to infer the geophysical state based only on each other's conclusions. This approach saves communication costs but sacrifices accuracy. The results of these experiments have been statistically analyzed using omega-squared effect sizes produced by ANOVA with p-values < 0.05. The IANA system was found to outperform the CDS system for message cost with high effect sizes. The CDS system outperformed the IANA system for accuracy with only small effect sizes. The IANA system was found to outperform the CNO system for accuracy with mostly high and medium effect sizes. The CNO system outperformed the IANA system for message costs with only small effect sizes. Given these results, the IANA system is preferable for most of the testing scenarios for the problem solved in this dissertation

Advances and Applications of Dezert-Smarandache Theory (DSmT) for Information Fusion (Collected Works), Vol. 4

The fourth volume on Advances and Applications of Dezert-Smarandache Theory (DSmT) for information fusion collects theoretical and applied contributions of researchers working in different fields of applications and in mathematics. The contributions (see List of Articles published in this book, at the end of the volume) have been published or presented after disseminating the third volume (2009, http://fs.unm.edu/DSmT-book3.pdf) in international conferences, seminars, workshops and journals. First Part of this book presents the theoretical advancement of DSmT, dealing with Belief functions, conditioning and deconditioning, Analytic Hierarchy Process, Decision Making, Multi-Criteria, evidence theory, combination rule, evidence distance, conflicting belief, sources of evidences with different importance and reliabilities, importance of sources, pignistic probability transformation, Qualitative reasoning under uncertainty, Imprecise belief structures, 2-Tuple linguistic label, Electre Tri Method, hierarchical proportional redistribution, basic belief assignment, subjective probability measure, Smarandache codification, neutrosophic logic, Evidence theory, outranking methods, Dempster-Shafer Theory, Bayes fusion rule, frequentist probability, mean square error, controlling factor, optimal assignment solution, data association, Transferable Belief Model, and others. More applications of DSmT have emerged in the past years since the apparition of the third book of DSmT 2009. Subsequently, the second part of this volume is about applications of DSmT in correlation with Electronic Support Measures, belief function, sensor networks, Ground Moving Target and Multiple target tracking, Vehicle-Born Improvised Explosive Device, Belief Interacting Multiple Model filter, seismic and acoustic sensor, Support Vector Machines, Alarm classification, ability of human visual system, Uncertainty Representation and Reasoning Evaluation Framework, Threat Assessment, Handwritten Signature Verification, Automatic Aircraft Recognition, Dynamic Data-Driven Application System, adjustment of secure communication trust analysis, and so on. Finally, the third part presents a List of References related with DSmT published or presented along the years since its inception in 2004, chronologically ordered