151 research outputs found

    Robust Fusion of LiDAR and Wide-Angle Camera Data for Autonomous Mobile Robots

    Get PDF
    Autonomous robots that assist humans in day to day living tasks are becoming increasingly popular. Autonomous mobile robots operate by sensing and perceiving their surrounding environment to make accurate driving decisions. A combination of several different sensors such as LiDAR, radar, ultrasound sensors and cameras are utilized to sense the surrounding environment of autonomous vehicles. These heterogeneous sensors simultaneously capture various physical attributes of the environment. Such multimodality and redundancy of sensing need to be positively utilized for reliable and consistent perception of the environment through sensor data fusion. However, these multimodal sensor data streams are different from each other in many ways, such as temporal and spatial resolution, data format, and geometric alignment. For the subsequent perception algorithms to utilize the diversity offered by multimodal sensing, the data streams need to be spatially, geometrically and temporally aligned with each other. In this paper, we address the problem of fusing the outputs of a Light Detection and Ranging (LiDAR) scanner and a wide-angle monocular image sensor for free space detection. The outputs of LiDAR scanner and the image sensor are of different spatial resolutions and need to be aligned with each other. A geometrical model is used to spatially align the two sensor outputs, followed by a Gaussian Process (GP) regression-based resolution matching algorithm to interpolate the missing data with quantifiable uncertainty. The results indicate that the proposed sensor data fusion framework significantly aids the subsequent perception steps, as illustrated by the performance improvement of a uncertainty aware free space detection algorith

    Analysis of Root Displacement Interpolation Method for Tunable Allpass Fractional-Delay Filters

    Full text link

    Quality-aware adaptive delivery of multi-view video

    Get PDF
    Advances in video coding and networking technologies have paved the way for the Multi-View Video (MVV) streaming. However, large amounts of data and dynamic network conditions result in frequent network congestion, which may prevent video packets from being delivered on time. As a consequence, the 3D viewing experience may be degraded signifi- cantly, unless quality-aware adaptation methods are deployed. There is no research work to discuss the MVV adaptation of decision strategy or provide a detailed analysis of a dynamic network environment. This work addresses the mentioned issues for MVV streaming over HTTP for emerging multi-view displays. In this research work, the effect of various adaptations of decision strategies are evaluated and, as a result, a new quality-aware adaptation method is designed. The proposed method is benefiting from layer based video coding in such a way that high Quality of Experience (QoE) is maintained in a cost-effective manner. The conducted experimental results on MVV streaming using the proposed strategy are showing that the perceptual 3D video quality, under adverse network conditions, is enhanced significantly as a result of the proposed quality-aware adaptation

    Analysis by synthesis spatial audio coding

    Get PDF
    This study presents a novel spatial audio coding (SAC) technique, called analysis by synthesis SAC (AbS-SAC), with a capability of minimising signal distortion introduced during the encoding processes. The reverse one-to-two (R-OTT), a module applied in the MPEG Surround to down-mix two channels as a single channel, is first configured as a closed-loop system. This closed-loop module offers a capability to reduce the quantisation errors of the spatial parameters, leading to an improved quality of the synthesised audio signals. Moreover, a sub-optimal AbS optimisation, based on the closed-loop R-OTT module, is proposed. This algorithm addresses a problem of practicality in implementing an optimal AbS optimisation while it is still capable of improving further the quality of the reconstructed audio signals. In terms of algorithm complexity, the proposed sub-optimal algorithm provides scalability. The results of objective and subjective tests are presented. It is shown that significant improvement of the objective performance, when compared to the conventional open-loop approach, is achieved. On the other hand, subjective test show that the proposed technique achieves higher subjective difference grade scores than the tested advanced audio coding multichannel

    Multi-view video coding via virtual view generation

    Get PDF
    In this paper, a multi-view video coding method via generation of virtual picture sequences is proposed. Pictures are synthesized for the sake of better exploitation of the redundancies between neighbouring views in a multi-view sequence. Pictures are synthesized through a 3D warping method to estimate certain views in a multi-view set. Depth map and associated colour video sequences are used for view generation and tests. H. 264/AVC coding standard based MVC draft software is used for coding colour videos and depth maps as well as certain views which are predicted from the virtually generated views. Results for coding these views with the proposed method are compared against the reference H. 264/AVC simulcast method under some low delay coding scenarios. The rate-distortion performance of the proposed method outperforms that of the reference method at all bit-rates

    Towards an LTE hybrid unicast broadcast content delivery framework

    Get PDF
    The era of ubiquitous access to a rich selection of interactive and high quality multimedia has begun; with it, significant challenges in data demand have been placed on mobile network technologies. Content creators and broadcasters alike have embraced the additional capabilities offered by network delivery; diversifying content offerings and providing viewers with far greater choice. Mobile broadcast services introduced as part of the Long Term Evolution (LTE) standard, that are to be further enhanced with the release of 5G, do aid in spectrally efficient delivery of popular live multimedia to many mobile devices, but, ultimately rely on all users expressing interest in the same single stream. The research presented herein explores the development of a standards aligned, multi-stream aware framework; allowing mobile network operators the efficiency gains of broadcast whilst continuing to offer personalised experiences to subscribers. An open source, system level simulation platform is extended to support broadcast, characterised and validated. This is followed by the implementation of a Hybrid Unicast Broadcast Synchronisation (HUBS) framework able to dynamically vary broadcast resource allocation. The HUBS framework is then further expanded to make use of scalable video content

    Deep Multi-Critic Network for accelerating Policy Learning in multi-agent environments

    Get PDF
    Humans live among other humans, not in isolation. Therefore, the ability to learn and behave in multi-agent environments is essential for any autonomous system that intends to interact with people. Due to the presence of multiple simultaneous learners in a multi-agent learning environment, the Markov assumption used for single-agent environments is not tenable, necessitating the development of new Policy Learning algorithms. Recent Actor-Critic algorithms proposed for multi-agent environments, such as Multi-Agent Deep Deterministic Policy Gradients and Counterfactual Multi-Agent Policy Gradients, find a way to use the same mathematical framework as single agent environments by augmenting the Critic with extra information. However, this extra information can slow down the learning process and afflict the Critic with Curse of Dimensionality. To combat this, we propose a novel Deep Neural Network configuration called Deep Multi-Critic Network. This architecture works by taking a weighted sum over the outputs of multiple critic networks of varying complexity and size. The configuration was tested on data collected from a real-world multi-agent environment. The results illustrate that by using Deep Multi-Critic Network, less data is needed to reach the same level of performance as when not using the configuration. This suggests that as the configuration learns faster from less data, then the Critic may be able to learn Q-values faster, accelerating Actor training as well

    Towards adaptive control in smart homes: Overall system design and initial evaluation of activity recognition

    Get PDF
    This paper proposes an approach for adaptive control over devices within a smart home, by learning user behavior and preferences over time. The proposed solution leverages three components: activity recognition for realising the state of a user, ontologies for finding relevant devices within a smart home, and machine learning for decision making. In this paper, the focus is on the first component. Existing algorithms for activity recognition are systematically evaluated on a real-world dataset. A thorough analysis of the algorithms’ accuracy is presented, with focus on the structure of the selected dataset. Finally, further study of the dataset is carried out, aiming at reasoning factors that influence the activity recognition performance
    • …
    corecore