Vehicle localization by lidar point correlation improved by change detection

LiDAR sensors are proven sensors for accurate vehicle localization. Instead of detecting and matching features in the LiDAR data, we want to use the entire information provided by the scanners. As dynamic objects, like cars, pedestrians or even construction sites could lead to wrong localization results, we use a change detection algorithm to detect these objects in the reference data. If an object occurs in a certain number of measurements at the same position, we mark it and every containing point as static. In the next step, we merge the data of the single measurement epochs to one reference dataset, whereby we only use static points. Further, we also use a classification algorithm to detect trees. For the online localization of the vehicle, we use simulated data of a vertical aligned automotive LiDAR sensor. As we only want to use static objects in this case as well, we use a random forest classifier to detect dynamic scan points online. Since the automotive data is derived from the LiDAR Mobile Mapping System, we are able to use the labelled objects from the reference data generation step to create the training data and further to detect dynamic objects online. The localization then can be done by a point to image correlation method using only static objects. We achieved a localization standard deviation of about 5 cm (position) and 0.06° (heading), and were able to successfully localize the vehicle in about 93 % of the cases along a trajectory of 13 km in Hannover, Germany

Pléiades project: Assessment of georeferencing accuracy, image quality, pansharpening performence and DSM/DTM quality

Pléiades 1A and 1B are twin optical satellites of Optical and Radar Federated Earth Observation (ORFEO) program jointly running by France and Italy. They are the first satellites of Europe with sub-meter resolution. Airbus DS (formerly Astrium Geo) runs a MyGIC (formerly Pléiades Users Group) program to validate Pléiades images worldwide for various application purposes. The authors conduct three projects, one is within this program, the second is supported by BEU Scientific Research Project Program, and the third is supported by TÜBİTAK. Assessment of georeferencing accuracy, image quality, pansharpening performance and Digital Surface Model/Digital Terrain Model (DSM/DTM) quality subjects are investigated in these projects. For these purposes, triplet panchromatic (50 cm Ground Sampling Distance (GSD)) and VNIR (2 m GSD) Pléiades 1A images were investigated over Zonguldak test site (Turkey) which is urbanised, mountainous and covered by dense forest. The georeferencing accuracy was estimated with a standard deviation in X and Y (SX, SY) in the range of 0.45m by bias corrected Rational Polynomial Coefficient (RPC) orientation, using ~170 Ground Control Points (GCPs). 3D standard deviation of ±0.44m in X, ±0.51m in Y, and ±1.82m in Z directions have been reached in spite of the very narrow angle of convergence by bias corrected RPC orientation. The image quality was also investigated with respect to effective resolution, Signal to Noise Ratio (SNR) and blur coefficient. The effective resolution was estimated with factor slightly below 1.0, meaning that the image quality corresponds to the nominal resolution of 50cm. The blur coefficients were achieved between 0.39-0.46 for triplet panchromatic images, indicating a satisfying image quality. SNR is in the range of other comparable space borne images which may be caused by de-noising of Pléiades images. The pansharpened images were generated by various methods, and are validated by most common statistical metrics and also visual interpretation. The generated DSM and DTM were achieved with ±1.6m standard deviation in Z (SZ) in relation to a reference DTM.Airbus Defence and SpaceBEU/2014-47912266-01TÜBİTAK/114Y38

Orientation of oblique airborne image sets - Experiences from the ISPRS/Eurosdr benchmark on multi-platform photogrammetry

During the last decade the use of airborne multi camera systems increased significantly. The development in digital camera technology allows mounting several mid- or small-format cameras efficiently onto one platform and thus enables image capture under different angles. Those oblique images turn out to be interesting for a number of applications since lateral parts of elevated objects, like buildings or trees, are visible. However, occlusion or illumination differences might challenge image processing. From an image orientation point of view those multi-camera systems bring the advantage of a better ray intersection geometry compared to nadir-only image blocks. On the other hand, varying scale, occlusion and atmospheric influences which are difficult to model impose problems to the image matching and bundle adjustment tasks. In order to understand current limitations of image orientation approaches and the influence of different parameters such as image overlap or GCP distribution, a commonly available dataset was released. The originally captured data comprises of a state-of-the-art image block with very high overlap, but in the first stage of the so-called ISPRS/EUROSDR benchmark on multi-platform photogrammetry only a reduced set of images was released. In this paper some first results obtained with this dataset are presented. They refer to different aspects like tie point matching across the viewing directions, influence of the oblique images onto the bundle adjustment, the role of image overlap and GCP distribution. As far as the tie point matching is concerned we observed that matching of overlapping images pointing to the same cardinal direction, or between nadir and oblique views in general is quite successful. Due to the quite different perspective between images of different viewing directions the standard tie point matching, for instance based on interest points does not work well. How to address occlusion and ambiguities due to different views onto objects is clearly a non-solved research problem so far. In our experiments we also confirm that the obtainable height accuracy is better when all images are used in bundle block adjustment. This was also shown in other research before and is confirmed here. Not surprisingly, the large overlap of 80/80% provides much better object space accuracy – random errors seem to be about 2-3fold smaller compared to the 60/60% overlap. A comparison of different software approaches shows that newly emerged commercial packages, initially intended to work with small frame image blocks, do perform very well

Long- and short-range correlations and their event-scale dependence in high-multiplicity pp collisions at 1as = 13 TeV

Two-particle angular correlations are measured in high-multiplicity proton-proton collisions at s = 13 TeV by the ALICE Collaboration. The yields of particle pairs at short-( 06\u3b7 3c 0) and long-range (1.6 < | 06\u3b7| < 1.8) in pseudorapidity are extracted on the near-side ( 06\u3c6 3c 0). They are reported as a function of transverse momentum (pT) in the range 1 < pT< 4 GeV/c. Furthermore, the event-scale dependence is studied for the first time by requiring the presence of high-pT leading particles or jets for varying pT thresholds. The results demonstrate that the long-range \u201cridge\u201d yield, possibly related to the collective behavior of the system, is present in events with high-pT processes as well. The magnitudes of the short- and long-range yields are found to grow with the event scale. The results are compared to EPOS LHC and PYTHIA 8 calculations, with and without string-shoving interactions. It is found that while both models describe the qualitative trends in the data, calculations from EPOS LHC show a better quantitative agreement for the pT dependency, while overestimating the event-scale dependency. [Figure not available: see fulltext.

Observation of flow angle and flow magnitude fluctuations in Pb-Pb collisions at sNN=5.02TeV at the CERN Large Hadron Collider

This Letter reports on the first measurements of transverse momentum dependent flow angle n and flow magnitude vn fluctuations determined using new four-particle correlators. The measurements are performed for various centralities in Pb–Pb collisions at a center-of-mass energy per nucleon pair of √s NN = 5.02 TeV with ALICE at the CERN Large Hadron Collider. Both flow angle and flow magnitude fluctuations are observed in the presented centrality ranges and are strongest in the most central collisions and for a transverse momentum pT > 2 GeV/c. Comparison with theoretical models, including iEBE-VISHNU, MUSIC, and AMPT, show that the measurements exhibit unique sensitivities to the initial state of heavy-ion collisions

Charged-particle multiplicity fluctuations in Pb–Pb collisions at √sNN = 2.76 TeV

Measurements of event-by-event fluctuations of charged-particle multiplicities in Pb–Pb collisions at √sNN = 2.76 TeV using the ALICE detector at the CERN Large Hadron Collider (LHC) are presented in the pseudorapidity range |η|<0.8 and transverse momentum 0.2<pT<2.0 GeV/c. The amplitude of the fluctuations is expressed in terms of the variance normalized by the mean of the multiplicity distribution. The η and pT dependences of the fluctuations and their evolution with respect to collision centrality are investigated. The multiplicity fluctuations tend to decrease from peripheral to central collisions. The results are compared to those obtained from HIJING and AMPT Monte Carlo event generators as well as to experimental data at lower collision energies. Additionally, the measured multiplicity fluctuations are discussed in the context of the isothermal compressibility of the high-density strongly-interacting system formed in central Pb–Pb collisions.publishedVersio

Measurement of the Lifetime and Λ Separation Energy of _{Λ}^{3}H

The most precise measurements to date of the _{Λ}^{3}H lifetime τ and Λ separation energy B_{Λ} are obtained using the data sample of Pb-Pb collisions at sqrt[s_{NN}]=5.02  TeV collected by ALICE at the LHC. The _{Λ}^{3}H is reconstructed via its charged two-body mesonic decay channel (_{Λ}^{3}H→^{3}He+π^{-} and the charge-conjugate process). The measured values τ=[253±11(stat)±6(syst)]  ps and B_{Λ}=[102±63(stat)±67(syst)]  keV are compatible with predictions from effective field theories and confirm that the _{Λ}^{3}H structure is consistent with a weakly bound system