Accurate Cooperative Sensor Fusion by Parameterized Covariance Generation for Sensing and Localization Pipelines in CAVs

A major challenge in cooperative sensing is to weight the measurements taken from the various sources to get an accurate result. Ideally, the weights should be inversely proportional to the error in the sensing information. However, previous cooperative sensor fusion approaches for autonomous vehicles use a fixed error model, in which the covariance of a sensor and its recognizer pipeline is just the mean of the measured covariance for all sensing scenarios. The approach proposed in this paper estimates error using key predictor terms that have high correlation with sensing and localization accuracy for accurate covariance estimation of each sensor observation. We adopt a tiered fusion model consisting of local and global sensor fusion steps. At the local fusion level, we add in a covariance generation stage using the error model for each sensor and the measured distance to generate the expected covariance matrix for each observation. At the global sensor fusion stage we add an additional stage to generate the localization covariance matrix from the key predictor term velocity and combines that with the covariance generated from the local fusion for accurate cooperative sensing. To showcase our method, we built a set of 1/10 scale model autonomous vehicles with scale accurate sensing capabilities and classified the error characteristics against a motion capture system. Results show an average and max improvement in RMSE when detecting vehicle positions of 1.42x and 1.78x respectively in a four-vehicle cooperative fusion scenario when using our error model versus a typical fixed error model

Systems and methods for intersection management of connected autonomous vehicles

Various embodiments of an intersection management system for managing autonomous vehicles approaching an intersection in which a Time of Arrival, Velocity of Arrival, and path trajectory are calculated for each approaching vehicle are disclosed

Dynamic code mapping for limited local memory systems

Abstract—This paper presents heuristics for dynamic man-agement of application code on limited local memories present in high-performance multi-core processors. Previous techniques formulate the problem using call graphs, which do not capture the temporal ordering of functions. In addition, they only use a conservative estimate of the interference cost between functions to obtain a mapping. As a result previous techniques are unable to achieve efficient code mapping. Techniques proposed in this paper overcome both these limitations and achieve superior code mapping. Experimental results from executing benchmarks from MiBench onto the Cell processor in the Sony Playstation 3 demonstrate upto 29 % and average 12 % performance improve-ment, at tolerable compile-time overhead. I

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ЗДРАВООХРАНЕНИЕ РЕСПУБЛИКИ БЕЛАРУСЬЛЕКАРСТВАКОНГРЕСС

Six senses while considering hydatid cyst as a differential for a swelling at nape of the neck: a case report

While cervical swellings usually are located in anterior midline like thyroglossal cyst, thyroid swellings, or in antero-lateral aspect of neck like cold abscess, branchial cyst, lymphangioma, cervical lymphadenopathy etc. Nape of the neck swelling is even less common with differentials including lipoma, sebaceous cyst, lymphangioma, etc. Hydatid cyst (HC) is often missed as a differential resulting in intraoperative surprises. This case report might change the mind of the readers to keep HC in back of their minds while approaching a case of swelling of the neck. Here we report a case of 15 years’ female who presented with swelling of nape of neck which on evaluation was inclining towards lipoma/epidermal cyst. With an intention for surgical exploration and excision, the patient was taken for operation, where we discovered it to be HC and the same was later confirmed by histopathology as well. Because of its rare presentation the primary diagnosis of HC is often missed out in spite of having sensitive cytology and imaging modalities. Hence, by reporting this case we intend to emphasize six facts a clinician, a radiologist and also a pathologist must consider while keeping primary HC at an unusual site as a differential diagnosis.

Unsupervised annotated city traffic map generation

Public bus services in many cities in countries like India are controlled by private owners, hence, building up a database for all the bus routes is non-trivial. In this paper, we leverage smart-phone based sensing to crowdsource and populate the information repository for bus routes in a city. We have developed an intelligent data logging module for smartphones and a server side processing mechanism to extract roads and bus routes information. From a 3 month long study involving more than 30 volunteers in 3 different cities in India, we found that the developed system, CrowdMap, can annotate bus routes wit

Участие сотрудников милиции и войск НКВД Гомельщины в начальном этапе Великой Отечественной войны

Материалы XIII Междунар. науч. конф. студентов, магистрантов, аспирантов и молодых ученых, Гомель, 21–22 мая 2020 г

Compiler-in-the-Loop Exploration of Programmable Embedded Systems

in qualit