Object Tracking with Multiple Instance Learning and Gaussian Mixture Model

Recently, Multiple Instance Learning (MIL) technique has been introduced for object tracking\linebreak applications, which has shown its good performance to handle drifting problem. While some instances in positive bags not only contain objects, but also contain the background, it is not reliable to simply assume that each feature of instances in positive bags obeys a single Gaussian distribution. In this paper, a tracker based on online multiple instance boosting has been developed, which employs Gaussian Mixture Model (GMM) and single Gaussian distribution respectively to model features of instances in positive and negative bags. The differences between samples and the model are integrated into the process of updating the parameters for GMM. With the Haar-like features extracted from the bags, a set of weak classifiers are trained to construct a strong classifier, which is used to track the object location at a new frame. And the classifier can be updated online frame by frame. Experimental results have shown that our tracker is more stable and efficient when dealing with the illumination, rotation, pose and appearance changes

Fusion of 3D LIDAR and Camera Data for Object Detection in Autonomous Vehicle Applications

It’s critical for an autonomous vehicle to acquire accurate and real-time information of the objects in its vicinity, which will fully guarantee the safety of the passengers and vehicle in various environment. 3D LIDAR can directly obtain the position and geometrical structure of the object within its detection range, while vision camera is very suitable for object recognition. Accordingly, this paper presents a novel object detection and identification method fusing the complementary information of two kind of sensors. We first utilize the 3D LIDAR data to generate accurate object-region proposals effectively. Then, these candidates are mapped into the image space where the regions of interest (ROI) of the proposals are selected and input to a convolutional neural network (CNN) for further object recognition. In order to identify all sizes of objects precisely, we combine the features of the last three layers of the CNN to extract multi-scale features of the ROIs. The evaluation results on the KITTI dataset demonstrate that : (1) Unlike sliding windows that produce thousands of candidate object-region proposals, 3D LIDAR provides an average of 86 real candidates per frame and the minimal recall rate is higher than 95%, which greatly lowers the proposals extraction time; (2) The average processing time for each frame of the proposed method is only 66.79ms, which meets the real-time demand of autonomous vehicles; (3) The average identification accuracies of our method for car and pedestrian on the moderate level are 89.04% and 78.18% respectively, which outperform most previous methods

An Efficient V2X Based Vehicle Localization Using Single RSU and Single Receiver

High accuracy vehicle localization information is critical for intelligent transportation systems and future autonomous vehicles. It is challenging to achieve the required centimeter-level localization accuracy, especially in urban or global navigation satellite system denied environments. Here we propose a vehicle-to-infrastructure (V2I)-based vehicle localization algorithm. First, it is low-cost and hardware requirements are simplified, the minimum requirement is a single roadside unit and single on-board receiver. Second, it is computationally efficient, the available V2I information is formulated as an over-determined system. Then, the vehicle position is estimated in a closed-form manner via the widely used weighted linear least squares (WLLS) method and meter level accuracy is achievable. Furthermore, the numerical performance of WLLS is consistent with the theoretical results in larger signal-to-noise ratio region

Analysis of V2V Messages for Car-Following Behavior with the Traffic Jerk Effect

The existing model of sudden acceleration changes, referred to as the traffic jerk effect, is mostly based on theoretical hypotheses, and previous research has mainly focused on traditional traffic flow. To this end, this paper investigates the change in the traffic jerk effect between inactive and active vehicle-to-vehicle (V2V) communications based on field experimental data. Data mining results show that the correlation between the jerk effect and the driving behavior increases by 50.6% on average when V2V messages are received. In light of the data analysis results, a new car-following model is proposed to explore the jerk effect in a connected environment. The model parameters are calibrated, and the results show that the standard deviation between the new model simulation data and the observed data decreases by 38.2% compared to that of the full velocity difference (FVD) model. Linear and nonlinear analyses of the calibrated model are then carried out to evaluate the connected traffic flow stability. Finally, the theoretical analysis is verified by simulation experiments. Both the theoretical and simulation results show that the headway amplitude and velocity fluctuations are reduced when considering the jerk effect in a connected environment, and the traffic flow stability is improved. Document type: Articl

DSRC versus 4G-LTE for Connected Vehicle Applications: A Study on Field Experiments of Vehicular Communication Performance

Dedicated short-range communication (DSRC) and 4G-LTE are two widely used candidate schemes for Connected Vehicle (CV) applications. It is thus of great necessity to compare these two most viable communication standards and clarify which one can meet the requirements of most V2X scenarios with respect to road safety, traffic efficiency, and infotainment. To the best of our knowledge, almost all the existing studies on comparing the feasibility of DRSC or LTE in V2X applications use software-based simulations, which may not represent realistic constraints. In this paper, a Connected Vehicle test-bed is established, which integrates the DSRC roadside units, 4G-LTE cellular communication stations, and vehicular on-board terminals. Three Connected Vehicle application scenarios are set as Collision Avoidance, Traffic Text Message Broadcast, and Multimedia File Download, respectively. A software tool is developed to record GPS positions/velocities of the test vehicles and record certain wireless communication performance indicators. The experiments have been carried out under different conditions. According to our results, 4G-LTE is more preferred for the nonsafety applications, such as traffic information transmission, file download, or Internet accessing, which does not necessarily require the high-speed real-time communication, while for the safety applications, such as Collision Avoidance or electronic traffic sign, DSRC outperforms the 4G-LTE. Document type: Articl

2015 International Conference on Information Technology and Intelligent Transportation Systems

This volume includes the proceedings of the 2015 International Conference on Information Technology and Intelligent Transportation Systems (ITITS 2015) which was held in Xi’an on December 12-13, 2015. The conference provided a platform for all professionals and researchers from industry and academia to present and discuss recent advances in the field of Information Technology and Intelligent Transportation Systems. The presented information technologies are connected to intelligent transportation systems including wireless communication, computational technologies, floating car data/floating cellular data, sensing technologies, and video vehicle detection. The articles focusing on intelligent transport systems vary in the technologies applied, from basic management systems to more application systems including topics such as emergency vehicle notification systems, automatic road enforcement, collision avoidance systems and some cooperative systems. The conference hosted 12 invited speakers and over 200 participants. Each paper was under double peer reviewed by at least 3 reviewers. This proceedings are sponsored by Shaanxi Computer Society and co-sponsored by Chang’an University, Xi’an University of Technology, Northwestern Poly-technical University, CAS, Shaanxi Sirui Industries Co., LTD

Information Hiding for Medical Privacy Protection based on GHM and Canny Edge Detection

In order to protect the personal and diagnosis information of patient, GHM and Canny edge detection are employed in this algorithm to process the original CT digital image. The original image will be firstly processed GHM for a global analysis. According to different importance degrees, CT images can be distributed into LL2, LH2, HL2 and HH2 by GHM multi-wavelet. After that, the distributed sub-images will be processed by Canny edge detection. For example, the edges of LL2 (with the highest important degree) and HH2 (with the lowest important degree) are detected by strong Canny method. Then many thin edges can be obtained, which are useless for medical diagnosis, privacy and diagnosis information can be hid by deletion and comparison processing of invalid edges. The experimental results indicate that the robustness and capacity of watermarked CT images can be improved after this algorithm

Identification and optimization of traffic bottleneck with signal timing

In urban transportation network, traffic congestion is likely to occur at traffic bottlenecks. The signal timing at intersections together with static properties of left-turn and straight-through lanes of roads are two significant factors causing traffic bottlenecks. A discrete-time model of traffic bottleneck is hence developed to analyze these two factors, and a bottleneck indicator is introduced to estimate the comprehensive bottleneck degree of individual road in regional transportation networks universally, the identification approaches are presented to identify traffic bottlenecks, bottleneck-free roads, and bottleneck-prone roads. Based on above work, the optimization method applies ant colony algorithm with effective green time as decision variables to find out an optimal coordinated signal timing plan for a regional network. In addition, a real experimental transportation network is chosen to verify the validation of bottleneck identification. The bottleneck identification approaches can explain the features of occurrence and dissipation of traffic congestion in a certain extent, and the bottleneck optimization method provides a new way to coordinate signal timing at intersections to mitigate traffic congestion

A Multiscale and High-Precision LSTM-GASVR Short-Term Traffic Flow Prediction Model

Short-term traffic flow has the characteristics of complex, changeable, strong timeliness, and so on. So the traditional prediction algorithm is difficult to meet its high real-time and accuracy requirements. In this paper, a multiscale and high-precision LSTM-GASVR short-term traffic flow prediction algorithm is proposed. This method uses 15 min traffic flow data of the first 16 sections as input and completes the data preprocessing operation through reconstruction, normalization, and rising dimension by working day factor; establishing the prediction model based on the long- and short-term memory network (LSTM) and inverse normalization; and proposing the GA-SVR model to optimize the prediction results, so as to realize the real-time high-precision prediction of traffic flow. The prediction experiment is carried out according to the charge data of a toll station in Xi’an, Shaanxi Province, from May 2018 to May 2019. The comparison and analysis of various algorithms show that the prediction algorithm proposed in this paper is 20% higher than the LSTM, GRU, CNN, SAE, ARIMA, and SVR, and the R2 can reach 0.982, the explanatory variance is 0.982, and the MAPE is 0.118. The proposed traffic flow prediction algorithm provides strong support for traffic managers to judge the state of the road network to control traffic and guide traffic flow