114 research outputs found
Initial Results From European Road Safety Inspection (eursi) Mobile Mapping Project
Mobile mapping systems are becoming a popular method for collecting high quality near 3D information of terrestrial scenes. Modern
mobile mapping systems can produce millions of georeferenced points per minute. These can be used to gather quantitative information
about surfaces and objects. With this geospatial data it is becoming possible to segment and extract the road surface. In this paper, we
will detail a novel LIDAR based road edge extraction algorithm which is applicable to both urban and rural road sections
Challenges in Partially-Automated Roadway Feature Mapping Using Mobile Laser Scanning and Vehicle Trajectory Data
Connected vehicle and driver's assistance applications are greatly
facilitated by Enhanced Digital Maps (EDMs) that represent roadway features
(e.g., lane edges or centerlines, stop bars). Due to the large number of
signalized intersections and miles of roadway, manual development of EDMs on a
global basis is not feasible. Mobile Terrestrial Laser Scanning (MTLS) is the
preferred data acquisition method to provide data for automated EDM
development. Such systems provide an MTLS trajectory and a point cloud for the
roadway environment. The challenge is to automatically convert these data into
an EDM. This article presents a new processing and feature extraction method,
experimental demonstration providing SAE-J2735 map messages for eleven example
intersections, and a discussion of the results that points out remaining
challenges and suggests directions for future research.Comment: 6 pages, 5 figure
Automated road extraction from terrestrial based mobile laser scanning system using the GVF snake model
Accurate extraction and reconstruction of route corridor features from geospatial data is a prerequisite to effective management of road networks for engineering, safety and environmental
applications. High quality road geometry and road side features can now be extracted from
dense point cloud LiDAR data, recorded by modern day Mobile Mapping Systems. This valuable
route network information is gaining the attention of road safety and maintenance engineers.
Road points are needed to be correctly identified, classified and extracted from LiDAR data
before reconstructing intrinsic road geometry and road-side infrastructure. In this paper, we
present a method to automatically extract the road from terrestrial based mobile laser scanning
system using the GVF (Gradient Vector Flow) snake model. A snake is an energy minimizing
spline that moves towards the desired feature or object boundary under the influence of internal
forces within the curve itself and external GVF forces derived typically from 2D imaging data by
minimizing certain energy such as edges or high frequency information. In our novel method, we
initialise the snake contours over point cloud data based on the trajectory information produced
by the MMS navigation sub-system. The internal energy term provided to the snake contour is
based on adjusting the intrinsic properties of the curve, such as elasticity and bending, whilst
the GVF energy and constraint energy terms are derived from the LiDAR point cloud attributes.
Our method primarily differs from the traditional snake models in initialisation and in deriving the
energy terms from the 3D LiDAR data
Small business innovation research. Abstracts of completed 1987 phase 1 projects
Non-proprietary summaries of Phase 1 Small Business Innovation Research (SBIR) projects supported by NASA in the 1987 program year are given. Work in the areas of aeronautical propulsion, aerodynamics, acoustics, aircraft systems, materials and structures, teleoperators and robotics, computer sciences, information systems, spacecraft systems, spacecraft power supplies, spacecraft propulsion, bioastronautics, satellite communication, and space processing are covered
Indicador Integrado Multiparamétrico (IIM) para la caracterización de espacios peatonales en áreas urbanas a partir de la integración de datos LiDAR procedente de Mobile Mapping System con otras fuentes de información
Trabajo de Fin de Máster del Máster en GeotecnologÃas cartográficas en ingenierÃa y arquitectura, curso...En este estudio se propone una metodologÃa de investigación que permite identificar los caminos escolares peatonales más adecuados en áreas urbanas. En base a ciertas variables de seguridad vial, a la distancia de desplazamiento y al estado de los viales, entre otros parámetros de interés, se generará un indicador de movilidad que permitirá visualizar de manera sencilla los trayectos domicilio-colegio más adecuados.
El trabajo se divide en dos partes bien diferenciadas, la primera de ellas se focaliza en segmentar y clasificar nubes de puntos LiDAR para reconocer diferentes elementos viarios que condicionan la movilidad del peatón urbano. En la segunda parte se analiza la accesibilidad peatonal a un centro educativo aplicando técnicas de costes acumulados de desplazamiento, para identificar los caminos peatonales más apropiados en función de los elementos identificados en la fase previa
A Design Framework for Off-road Equipment Automation
Design frameworks can be helpful in the development of complex systems needed to automate machines. Designing autonomous off-road machinery requires having the means for managing the complexity of multiple interacting systems. A design framework, consisting of four technical layers, is presented. These layers are (1) machine architecture, (2) machine awareness, (3) machine control, and (4) machine behavior. Examples of technology advanced in development efforts of autonomous, robotic platforms for agricultural applications are provided. Linkages were made to applications in the construction machinery sector. Similarities between agricultural and construction automation exist in each of the technical layers
Context classification for service robots
This dissertation presents a solution for environment sensing using sensor fusion techniques and a context/environment classification of the surroundings in a service robot, so it could change his behavior according to the different rea-soning outputs.
As an example, if a robot knows he is outdoors, in a field environment, there can be a sandy ground, in which it should slow down. Contrariwise in indoor environments, that situation is statistically unlikely to happen (sandy ground). This simple assumption denotes the importance of context-aware in automated guided vehicles
A systematic review of perception system and simulators for autonomous vehicles research
This paper presents a systematic review of the perception systems and simulators for autonomous vehicles (AV). This work has been divided into three parts. In the first part, perception systems are categorized as environment perception systems and positioning estimation systems. The paper presents the physical fundamentals, principle functioning, and electromagnetic spectrum used to operate the most common sensors used in perception systems (ultrasonic, RADAR, LiDAR, cameras, IMU, GNSS, RTK, etc.). Furthermore, their strengths and weaknesses are shown, and the quantification of their features using spider charts will allow proper selection of different sensors depending on 11 features. In the second part, the main elements to be taken into account in the simulation of a perception system of an AV are presented. For this purpose, the paper describes
simulators for model-based development, the main game engines that can be used for simulation, simulators from the robotics field, and lastly simulators used specifically for AV. Finally, the current state of regulations that are being applied in different countries around the world on issues concerning the implementation of autonomous vehicles is presented.This work was partially supported by DGT (ref. SPIP2017-02286) and GenoVision (ref. BFU2017-88300-C2-2-R) Spanish Government projects, and the “Research Programme for Groups of Scientific Excellence in the Region of Murcia" of the Seneca Foundation (Agency for Science and Technology in the Region of Murcia – 19895/GERM/15)
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