The development of a driver assist system with distance estimation using a single camera / Erma Rahayu Mohd Faizal Abdullah

In this thesis, an investigation on lane and vehicle tracking on a highway is carried out. The highway is chosen as the test ground due to the one-way flow of traffic, relative straightness of the road and consists of mostly automobiles. This study describes the development of a mid-line generation technique on the road as guidance for drivers to stay in the centre of the road lane they are currently driving on. The technique detects and tracks road lane in a video sequence and draws a virtual mid-line on the screen to guide the driver to stay centred within the lane

Novel algorithm for mobile robot path planning in constrained environment

This paper presents a development of a novel path planning algorithm, called Generalized Laser simulator (GLS), for solving the mobile robot path planning problem in a two-dimensional map with the presence of constraints. This approach gives the possibility to find the path for a wheel mobile robot considering some constraints during the robot movement in both known and unknown environments. The feasible path is determined between the start and goal positions by generating wave of points in all direction towards the goal point with adhering to constraints. In simulation, the proposed method has been tested in several working environments with different degrees of complexity. The results demonstrated that the proposed method is able to generate efficiently an optimal collision-free path. Moreover, the performance of the proposed method was compared with the A-star and laser simulator (LS) algorithms in terms of path length, computational time and path smoothness. The results revealed that the proposed method has shortest path length, less computational time and the best smooth path. As an average, GLS is faster than A∗ and LS by 7.8 and 5.5 times, respectively and presents a path shorter than A∗ and LS by 1.2 and 1.5 times. In order to verify the performance of the developed method in dealing with constraints, an experimental study was carried out using a Wheeled Mobile Robot (WMR) platform in labs and roads. The experimental work investigates a complete autonomous WMR path planning in the lab and road environments using a live video streaming. Local maps were built using data from a live video streaming with real-time image processing to detect segments of the analogous-road in lab or real-road environments. The study shows that the proposed method is able to generate shortest path and best smooth trajectory from start to goal points in comparison with laser simulator

Application of deep learning and feature selection technique on external root resorption identification on CBCT images

Abstract Background Artificial intelligence has been proven to improve the identification of various maxillofacial lesions. The aim of the current study is two-fold: to assess the performance of four deep learning models (DLM) in external root resorption (ERR) identification and to assess the effect of combining feature selection technique (FST) with DLM on their ability in ERR identification. Methods External root resorption was simulated on 88 extracted premolar teeth using tungsten bur in different depths (0.5 mm, 1 mm, and 2 mm). All teeth were scanned using a Cone beam CT (Carestream Dental, Atlanta, GA). Afterward, a training (70%), validation (10%), and test (20%) dataset were established. The performance of four DLMs including Random Forest (RF) + Visual Geometry Group 16 (VGG), RF + EfficienNetB4 (EFNET), Support Vector Machine (SVM) + VGG, and SVM + EFNET) and four hybrid models (DLM + FST: (i) FS + RF + VGG, (ii) FS + RF + EFNET, (iii) FS + SVM + VGG and (iv) FS + SVM + EFNET) was compared. Five performance parameters were assessed: classification accuracy, F1-score, precision, specificity, and error rate. FST algorithms (Boruta and Recursive Feature Selection) were combined with the DLMs to assess their performance. Results RF + VGG exhibited the highest performance in identifying ERR, followed by the other tested models. Similarly, FST combined with RF + VGG outperformed other models with classification accuracy, F1-score, precision, and specificity of 81.9%, weighted accuracy of 83%, and area under the curve (AUC) of 96%. Kruskal Wallis test revealed a significant difference (p = 0.008) in the prediction accuracy among the eight DLMs. Conclusion In general, all DLMs have similar performance on ERR identification. However, the performance can be improved by combining FST with DLMs

Novel algorithm for mobile robot path planning in constrained environment

This paper presents a development of a novel path planning algorithm, called Generalized Laser simulator (GLS), for solving the mobile robot path planning problem in a two-dimensional map with the presence of constraints. This approach gives the possibility to find the path for a wheel mobile robot considering some constraints during the robot movement in both known and unknown environments. The feasible path is determined between the start and goal positions by generating wave of points in all direction towards the goal point with adhering to constraints. In simulation, the proposed method has been tested in several working environments with different degrees of complexity. The results demonstrated that the proposed method is able to generate efficiently an optimal collision-free path. Moreover, the performance of the proposed method was compared with the A-star and laser simulator (LS) algorithms in terms of path length, computational time and path smoothness. The results revealed that the proposed method has shortest path length, less computational time and the best smooth path. As an average, GLS is faster than A* and LS by 7.8 and 5.5 times, respectively and presents a path shorter than A* and LS by 1.2 and 1.5 times. In order to verify the performance of the developed method in dealing with constraints, an experimental study was carried out using a Wheeled Mobile Robot (WMR) platform in labs and roads. The experimental work investigates a complete autonomous WMR path planning in the lab and road environments using a live video streaming. Local maps were built using data from a live video streaming with real-time image processing to detect segments of the analogous-road in lab or real-road environments. The study shows that the proposed method is able to generate shortest path and best smooth trajectory from start to goal points in comparison with laser simulator

Additional file 1 of Application of deep learning and feature selection technique on external root resorption identification on CBCT images

Additional file 1