2,178 research outputs found
Customized Co-Simulation Environment for Autonomous Driving Algorithm Development and Evaluation
Increasing the implemented SAE level of autonomy in road vehicles requires
extensive simulations and verifications in a realistic simulation environment
before proving ground and public road testing. The level of detail in the
simulation environment helps ensure the safety of a real-world implementation
and reduces algorithm development cost by allowing developers to complete most
of the validation in the simulation environment. Considering sensors like
camera, LIDAR, radar, and V2X used in autonomous vehicles, it is essential to
create a simulation environment that can provide these sensor simulations as
realistically as possible. While sensor simulations are of crucial importance
for perception algorithm development, the simulation environment will be
incomplete for the simulation of holistic AV operation without being
complemented by a realistic vehicle dynamic model and traffic cosimulation.
Therefore, this paper investigates existing simulation environments, identifies
use case scenarios, and creates a cosimulation environment to satisfy the
simulation requirements for autonomous driving function development using the
Carla simulator based on the Unreal game engine for the environment, Sumo or
Vissim for traffic co-simulation, Carsim or Matlab, Simulink for vehicle
dynamics co-simulation and Autoware or the author or user routines for
autonomous driving algorithm co-simulation. As a result of this work, a
model-based vehicle dynamics simulation with realistic sensor simulation and
traffic simulation is presented. A sensor fusion methodology is implemented in
the created simulation environment as a use case scenario. The results of this
work will be a valuable resource for researchers who need a comprehensive
co-simulation environment to develop connected and autonomous driving
algorithms
The ICL-TUM-PASSAU approach for the MediaEval 2015 "affective impact of movies" task
In this paper we describe the Imperial College London, Technische Universitat München and University of Passau (ICL+TUM+PASSAU) team approach to the MediaEval's "Affective Impact of Movies" challenge, which consists in the automatic detection of affective (arousal and valence) and violent content in movie excerpts. In addition to the baseline features, we computed spectral and energy related acoustic features, and the probability of various objects being present in the video. Random Forests, AdaBoost and Support Vector Machines were used as classification methods. Best results show that the dataset is highly challenging for both affect and violence detection tasks, mainly because of issues in inter-rater agreement and data scarcity
Tracking Extended Objects in Noisy Point Clouds with Application in Telepresence Systems
We discuss theory and application of extended object tracking. This task is challenging as sensor noise prevents a correct association of the measurements to their sources on the object, the shape itself might be unknown a priori, and due to occlusion effects, only parts of the object are visible at a given time. We propose an approach to track the parameters of arbitrary objects, which provides new solutions to the above challenges, and marks a significant advance to the state of the art
A Ranking Distance Based Diversity Measure for Multiple Classifier Systems
International audienceMultiple classifier fusion belongs to the decision-level information fusion, which has been widely used in many pattern classification applications, especially when the single classifier is not competent. However, multiple classifier fusion can not assure the improvement of the classification accuracy. The diversity among those classifiers in the multiple classifier system (MCS) is crucial for improving the fused classification accuracy. Various diversity measures for MCS have been proposed, which are mainly based on the average sample-wise classification consistency between different member classifiers. In this paper, we propose to define the diversity between member classifiers from a different standpoint. If different member classifiers in an MCS are good at classifying different classes, i.e., there exist expert-classifiers for each concerned class, the improvement of the accuracy of classifier fusion can be expected. Each classifier has a ranking of classes in term of the classification accuracies, based on which, a new diversity measure is implemented using the ranking distance. A larger average ranking distance represents a higher diversity. The new proposed diversity measure is used together with each single classifier's performance on training samples to design and optimize the MCS. Experiments, simulations , and related analyses are provided to illustrate and validate our new proposed diversity measure
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