Regression-Based Online Situation Recognition for Vehicular Traffic Scenarios

Abstract-In this paper, we present an approach for learning generalized models for traffic situations. We formulate the problem using a dynamic Bayesian network (DBN) from which we learn the characteristic dynamics of a situation from labeled trajectories using kernel regression. For a new and unlabeled trajectory, we can then infer the corresponding situation by evaluating the data likelihood for the individual situation models. In experiments carried out on laser range data gathered on a car in real traffic and in simulation, we show that we can robustly recognize different traffic situations even from trajectories corresponding to partial situation instances

Highly strained, radially π-conjugated porphyrinylene nanohoops

Small π-conjugated nanohoops are difficult to prepare, but offer an excellent platform for studying the interplay between strain and optoelectronic properties, and, increasingly, these shape-persistent macrocycles find uses in host-guest chemistry and self-assembly. We report the synthesis of a new family of radially π-conjugated porphyrinylene/phenylene nanohoops. The strain energy in the smallest nanohoop [2]CPT is approximately 54 kcal mol⁻¹, which results in a narrowed HOMO-LUMO gap and a red shift in the visible part of the absorption spectrum. Because of its high degree of preorganization and a diameter of ca. 13 Å, [2]CPT was found to accommodate C₆₀ with a binding affinity exceeding 10⁸ M⁻¹ despite the fullerene not fully entering the cavity of the host (X-ray crystallography). Moreover, the ?-extended nanohoops [2]CPTN, [3]CPTN, and [3]CPTA (N for 1,4-naphthyl; A for 9,10-anthracenyl) have been prepared using the same strategy, and [2]CPTN has been shown to bind C₇₀ 5 times more strongly than [2]CPT. Our failed synthesis of [2]CPTA highlights a limitation of the experimental approach most commonly used to prepare strained nanohoops, because in this particular case the sum of aromatization energies no longer outweighs the buildup of ring strain in the final reaction step (DFT calculations). These results indicate that forcing ring strain onto organic semiconductors is a viable strategy to fundamentally influence both optoelectronic and supramolecular properties

Probabilistic situation recognition for vehicular traffic scenarios

Abstract — To act intelligently in dynamic environments, a system must understand the current situation it is involved in at any given time. This requires dealing with temporal context, handling multiple and ambiguous interpretations, and accounting for various sources of uncertainty. In this paper we propose a probabilistic approach to modeling and recognizing situations. We define a situation as a distribution over sequences of states that have some meaningful interpretation. Each situation is characterized by an individual hidden Markov model that describes the corresponding distribution. In particular, we consider typical traffic scenarios and describe how our framework can be used to model and track different situations while they are evolving. The approach was evaluated experimentally in vehicular traffic scenarios using real and simulated data. The results show that our system is able to recognize and track multiple situation instances in parallel and make sensible decisions between competing hypotheses. Additionally, we show that our models can be used for predicting the position of the tracked vehicles. I