Cooperative localisation using image sensors in a dynamic traffic scenario

Localisation is one of the key elements in navigation. Especially due to the development in automated driving, precise and reliable localisation becomes essential. In this paper, we report on different cooperation approaches in visual localisation with two vehicles driving in a convoy formation. Each vehicle is equipped with a multi-sensor platform consisting of front-facing stereo cameras and a global navigation satellite system (GNSS) receiver. In the first approach, the GNSS signals are used as excentric observations for the projection centres of the cameras in a bundle adjustment, whereas the second approach uses markers on the front vehicle as dynamic ground control points (GCPs). As the platforms are moving and data acquisition is not synchronised, we use time dependent platform poses. These time dependent poses are represented by trajectories consisting of multiple 6 Degree of Freedom (DoF) anchor points between which linear interpolation takes place. In order to investigate the developed approach experimentally, in particular the potential of dynamic GCPs, we captured data using two platforms driving on a public road at normal speed. As a baseline, we determine the localisation parameters of one platform using only data of that platform. We then compute a solution based on image and GNSS data from both platforms. In a third scenario, the front platform is used as a dynamic GCP which can be related to the trailing platform by markers observed in the images acquired by the latter. We show that both cooperative approaches lead to significant improvements in the precision of the poses of the anchor points after bundle adjustment compared to the baseline. The improvement achieved due to the inclusion of dynamic GCPs is somewhat smaller than the one due to relating the platforms by tie points. Finally, we show that for an individual vehicle, the use of dynamic GCPs can compensate for the lack of GNSS data

VGI quality control

This paper presents a framework for considering quality control of volunteered geographic information (VGI). Different issues need to be considered during the conception, acquisition and post-acquisition phases of VGI creation. This includes items such as collecting metadata on the volunteer, providing suitable training, giving corrective feedback during the mapping process and use of control data, among others. Two examples of VGI data collection are then considered with respect to this quality control framework, i.e. VGI data collection by National Mapping Agencies and by the most recent Geo-Wiki tool, a game called Cropland Capture. Although good practices are beginning to emerge, there is still the need for the development and sharing of best practice, especially if VGI is to be integrated with authoritative map products or used for calibration and/or validation of land cover in the future

Evaluating different water-land-boundary approximations to improve sar-derived digital elevation models

The coastline of the German Wadden Sea is constantly subjected to the tides and the tidal-induced environmental changes like erosion and accumulation of sediments need to be monitored constantly. This task requires digital elevation models (DEMs), which are derived from remote sensing data. To model those DEMs, a separation of data collected over landmasses and water bodies is required. In the GeoWAM project the potential of airborne SAR-data (F-SAR) is investigated for monitoring purposes in the Wadden Sea. As part of the project, this paper focuses on the suitability of F-SAR data regarding the derivation of water-land-boundaries (WLBs). Therefore, water-land-boundaries based on independent data sets are compared and evaluated. Analyzed data sets include data collected via F-SAR, airborne laserscanning (ALS), on site GNSS measured WLB points and sea-level data from two acoustic gauges. The algorithms were tested on a study site on Spiekeroog island. Our results show, that the accuracies of the derived WLBs mostly depend on the on-site topography and sediments. The spatial deviation between the reference data and the approximated WLBs is mostly less than 2 m horizontally and 0.15 m vertically. Identified challenges to overcome are mostly related to processing of F-SAR data in areas with highly water saturated sediments. Our results suggest, that F-SAR data in tidal flats is not necessarily dependent on further supplementing surveys, as one of the main advantages of the F-SAR data is the potential to derive DEMs and WLBs from the same data set

Persistent antibody clonotypes dominate the serum response to influenza following repeated vaccination over multiple years

We used Ig-Seq, a liquid chromatography tandem mass spectrometry (LC-MS/MS)–based serum antibody proteomics methodology, to determine the clonal composition and dynamics of the H1N1 California/7/2009 (CA09) hemagglutinin (HA)-reactive antibody repertoire over 5 years in a well-characterized donor from whom a large number of homosubtypic and heterosubtypic neutralizing monoclonal antibodies had been previously isolated by B cell analysis. The donor was infected with the CA09 strain in 2009 and immunized annually for the next five years with seasonal influenza vaccine which contained the CA09 strain. We find that the serological repertoire in this donor was highly static, with a modest number (24) of persistent antibody clonotypes, detected in serum for at least 4 out of 5 years, accounting on average for 72.6 ± 10.0% of the repertoire to the CA09 HA. These persistent antibodies: (i) displayed a higher degree of somatic hypermutation relative to antibodies that could be detected in the serum transiently (i.e. lasted less than 1 year in serum); (ii) comprised a significant fraction that also bound to HA from a phylogenetically distant H5N1 A/Vietnam/1203/2004 (VT04) strain, a hallmark of stem-binding antibodies due to the lack of homology between CA09 and VT04 in the head region of HA and (iii) perhaps most strikingly, but consistent with the wealth of heterosubtypic neutralizing antibodies that had previously been identified from this donor, some of the most abundant persistent antibody clonotypes, including the dominant clone that accounted on average for 18.6 ± 12.3% of the serum titer across 5 years, neutralized both the CA09 and VT04 influenza strains. Our analysis highlights the magnitude of ‘serological imprinting’ in the donor’s serum response to CA09, indicates that seasonal vaccination can further reinforce a stable serological memory and finally suggests that once elicited, antibodies cross-reactive between CA09 and VT04 with heterosubtypic neutralization activity, thus likely to bind to HA-stem, can persist for many years, which is a fundamental goal of universal influenza vaccines

Computational framework for longevity risk management

Longevity risk threatens the financial stability of private and government sponsored defined benefit pension systems as well as social security schemes, in an environment already characterized by persistent low interest rates and heightened financial uncertainty. The mortality experience of countries in the industrialized world would suggest a substantial age-time interaction, with the two dominant trends affecting different age groups at different times. From a statistical point of view, this indicates a dependence structure. It is observed that mortality improvements are similar for individuals of contiguous ages (Wills and Sherris, Integrating financial and demographic longevity risk models: an Australian model for financial applications, Discussion Paper PI-0817, 2008). Moreover, considering the dataset by single ages, the correlations between the residuals for adjacent age groups tend to be high (as noted in Denton et al., J Population Econ 18:203-227, 2005). This suggests that there is value in exploring the dependence structure, also across time, in other words the inter-period correlation. In this research, we focus on the projections of mortality rates, contravening the most commonly encountered dependence property which is the "lack of dependence" (Denuit et al., Actuarial theory for dependent risks: measures. Orders and models, Wiley, New York, 2005). By taking into account the presence of dependence across age and time which leads to systematic over-estimation or under-estimation of uncertainty in the estimates (Liu and Braun, J Probability Stat, 813583:15, 2010), the paper analyzes a tailor-made bootstrap methodology for capturing the spatial dependence in deriving confidence intervals for mortality projection rates. We propose a method which leads to a prudent measure of longevity risk, avoiding the structural incompleteness of the ordinary simulation bootstrap methodology which involves the assumption of independence

Impact analysis of accidents on the traffic flow based on massive floating car data

The wide usage of GPS-equipped devices enables the mass recording of vehicle movement trajectories describing the movement behavior of the traffic participants. An important aspect of the road traffic is the impact of anomalies, like accidents, on traffic flow. Accidents are especially important as they contribute to the the aspects of safety and also influence travel time estimations. In this paper, the impact of accidents is determined based on a massive GPS trajectory and accident dataset. Due to the missing precise date of the accidents in the data set used, first, the date of the accident is estimated based on the speed profile at the accident time. Further, the temporal impact of the accident is estimated using the speed profile of the whole day. The approach is applied in an experiment on a one month subset of the datasets. The results show that more than 72% of the accident dates are identified and the impact on the temporal dimension is approximated. Moreover, it can be seen that accidents during the rush hours and on high frequency road types (e.g. motorways, trunks or primaries) have an increasing effect on the impact duration on the traffic flow