Environment Influences on Uncertainty of Object Detection for Automated Driving Systems

2019 ◽  
Author(s):  
Lei Ren ◽  
Huilin Yin ◽  
Wancheng Ge ◽  
Qian Meng
Keyword(s):  
Object Detection ◽  
Automated Driving

scholarly journals Using vision-based object detection for link quality prediction in 5.6-GHz channel

2020 ◽  
Vol 2020 (1) ◽  
Author(s):  
Riichi Kudo ◽  
Kahoko Takahashi ◽  
Takeru Inoue ◽  
Kohei Mizuno
Keyword(s):  
Deep Learning ◽  
Object Detection ◽  
Wireless Lan ◽  
Autonomous Robots ◽  
Learning Technologies ◽  
Link Quality ◽  
Automated Driving ◽  
Position Information ◽  
Prediction Scheme ◽  
Accurate Perception

Abstract Various smart connected devices are emerging like automated driving cars, autonomous robots, and remote-controlled construction vehicles. These devices have vision systems to conduct their operations without collision. Machine vision technology is becoming more accessible to perceive self-position and/or the surrounding environment thanks to the great advances in deep learning technologies. The accurate perception information of these smart connected devices makes it possible to predict wireless link quality (LQ). This paper proposes an LQ prediction scheme that applies machine learning to HD camera output to forecast the influence of surrounding mobile objects on LQ. The proposed scheme utilizes object detection based on deep learning and learns the relationship between the detected object position information and the LQ. Outdoor experiments show that LQ prediction proposal can well predict the throughput for around 1 s into the future in a 5.6-GHz wireless LAN channel.

scholarly journals The Design of Preventive Automated Driving Systems Based on Convolutional Neural Network

Electronics ◽  
2021 ◽  
Vol 10 (14) ◽  
pp. 1737
Author(s):  
Wooseop Lee ◽  
Min-Hee Kang ◽  
Jaein Song ◽  
Keeyeon Hwang
Keyword(s):  
Neural Network ◽  
Object Detection ◽  
Convolutional Neural Network ◽  
Processing Speed ◽  
Model Comparison ◽  
Distance Estimation ◽  
Visual Object ◽  
Suitable Model ◽  
Automated Vehicles ◽  
Automated Driving

As automated vehicles have been considered one of the important trends in intelligent transportation systems, various research is being conducted to enhance their safety. In particular, the importance of technologies for the design of preventive automated driving systems, such as detection of surrounding objects and estimation of distance between vehicles. Object detection is mainly performed through cameras and LiDAR, but due to the cost and limits of LiDAR’s recognition distance, the need to improve Camera recognition technique, which is relatively convenient for commercialization, is increasing. This study learned convolutional neural network (CNN)-based faster regions with CNN (Faster R-CNN) and You Only Look Once (YOLO) V2 to improve the recognition techniques of vehicle-mounted monocular cameras for the design of preventive automated driving systems, recognizing surrounding vehicles in black box highway driving videos and estimating distances from surrounding vehicles through more suitable models for automated driving systems. Moreover, we learned the PASCAL visual object classes (VOC) dataset for model comparison. Faster R-CNN showed similar accuracy, with a mean average precision (mAP) of 76.4 to YOLO with a mAP of 78.6, but with a Frame Per Second (FPS) of 5, showing slower processing speed than YOLO V2 with an FPS of 40, and a Faster R-CNN, which we had difficulty detecting. As a result, YOLO V2, which shows better performance in accuracy and processing speed, was determined to be a more suitable model for automated driving systems, further progressing in estimating the distance between vehicles. For distance estimation, we conducted coordinate value conversion through camera calibration and perspective transform, set the threshold to 0.7, and performed object detection and distance estimation, showing more than 80% accuracy for near-distance vehicles. Through this study, it is believed that it will be able to help prevent accidents in automated vehicles, and it is expected that additional research will provide various accident prevention alternatives such as calculating and securing appropriate safety distances, depending on the vehicle types.

scholarly journals Road Object Detection: A Comparative Study of Deep Learning-Based Algorithms

Electronics ◽  
2021 ◽  
Vol 10 (16) ◽  
pp. 1932
Author(s):  
Malik Haris ◽  
Adam Glowacz
Keyword(s):  
Image Processing ◽  
Deep Learning ◽  
Object Detection ◽  
Real Time ◽  
Large Scale ◽  
Single Shot ◽  
Automated Driving ◽  
Convolutional Network ◽  
Image Processing Algorithms ◽  
Processing Algorithms

Automated driving and vehicle safety systems need object detection. It is important that object detection be accurate overall and robust to weather and environmental conditions and run in real-time. As a consequence of this approach, they require image processing algorithms to inspect the contents of images. This article compares the accuracy of five major image processing algorithms: Region-based Fully Convolutional Network (R-FCN), Mask Region-based Convolutional Neural Networks (Mask R-CNN), Single Shot Multi-Box Detector (SSD), RetinaNet, and You Only Look Once v4 (YOLOv4). In this comparative analysis, we used a large-scale Berkeley Deep Drive (BDD100K) dataset. Their strengths and limitations are analyzed based on parameters such as accuracy (with/without occlusion and truncation), computation time, precision-recall curve. The comparison is given in this article helpful in understanding the pros and cons of standard deep learning-based algorithms while operating under real-time deployment restrictions. We conclude that the YOLOv4 outperforms accurately in detecting difficult road target objects under complex road scenarios and weather conditions in an identical testing environment.

Object Detection in a Virtual Simulation Environment with Automated Driving Toolbox

2021 ◽  
Author(s):  
Patricia Fernanda Escobar Vergara ◽  
Edgar Emanuel Gonzalez Malla ◽  
Edison Xavier Mino Paillacho ◽  
Flavio David Morales Arevalo
Keyword(s):  
Object Detection ◽  
Virtual Simulation ◽  
Simulation Environment ◽  
Automated Driving

scholarly journals $$360^{\circ }$$ real-time and power-efficient 3D DAMOT for autonomous driving applications

2022 ◽  
Author(s):  
Carlos Gómez-Huélamo ◽  
Javier Del Egido ◽  
Luis Miguel Bergasa ◽  
Rafael Barea ◽  
Elena López-Guillén ◽  
...  
Keyword(s):  
Embedded System ◽  
Object Detection ◽  
Real Time ◽  
Driving Simulator ◽  
Autonomous Driving ◽  
Intelligent Vehicles ◽  
Evaluation Tool ◽  
Automated Driving ◽  
Safe Driving ◽  
Power Efficient

AbstractAutonomous Driving (AD) promises an efficient, comfortable and safe driving experience. Nevertheless, fatalities involving vehicles equipped with Automated Driving Systems (ADSs) are on the rise, especially those related to the perception module of the vehicle. This paper presents a real-time and power-efficient 3D Multi-Object Detection and Tracking (DAMOT) method proposed for Intelligent Vehicles (IV) applications, allowing the vehicle to track $$360^{\circ }$$ 360 ∘ surrounding objects as a preliminary stage to perform trajectory forecasting to prevent collisions and anticipate the ego-vehicle to future traffic scenarios. First, we present our DAMOT pipeline based on Fast Encoders for object detection and a combination of a 3D Kalman Filter and Hungarian Algorithm, used for state estimation and data association respectively. We extend our previous work ellaborating a preliminary version of sensor fusion based DAMOT, merging the extracted features by a Convolutional Neural Network (CNN) using camera information for long-term re-identification and obstacles retrieved by the 3D object detector. Both pipelines exploit the concepts of lightweight Linux containers using the Docker approach to provide the system with isolation, flexibility and portability, and standard communication in robotics using the Robot Operating System (ROS). Second, both pipelines are validated using the recently proposed KITTI-3DMOT evaluation tool that demonstrates the full strength of 3D localization and tracking of a MOT system. Finally, the most efficient architecture is validated in some interesting traffic scenarios implemented in the CARLA (Car Learning to Act) open-source driving simulator and in our real-world autonomous electric car using the NVIDIA AGX Xavier, an AI embedded system for autonomous machines, studying its performance in a controlled but realistic urban environment with real-time execution (results).

scholarly journals Sensor and Sensor Fusion Technology in Autonomous Vehicles: A Review

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2140
Author(s):  
De Jong Yeong ◽  
Gustavo Velasco-Hernandez ◽  
John Barry ◽  
Joseph Walsh
Keyword(s):  
Object Detection ◽  
Sensor Fusion ◽  
Autonomous Vehicles ◽  
Autonomous Driving ◽  
Obstacle Detection ◽  
Future Research ◽  
Sensor Calibration ◽  
Automated Driving ◽  
Detection Techniques ◽  
Technical Performance

With the significant advancement of sensor and communication technology and the reliable application of obstacle detection techniques and algorithms, automated driving is becoming a pivotal technology that can revolutionize the future of transportation and mobility. Sensors are fundamental to the perception of vehicle surroundings in an automated driving system, and the use and performance of multiple integrated sensors can directly determine the safety and feasibility of automated driving vehicles. Sensor calibration is the foundation block of any autonomous system and its constituent sensors and must be performed correctly before sensor fusion and obstacle detection processes may be implemented. This paper evaluates the capabilities and the technical performance of sensors which are commonly employed in autonomous vehicles, primarily focusing on a large selection of vision cameras, LiDAR sensors, and radar sensors and the various conditions in which such sensors may operate in practice. We present an overview of the three primary categories of sensor calibration and review existing open-source calibration packages for multi-sensor calibration and their compatibility with numerous commercial sensors. We also summarize the three main approaches to sensor fusion and review current state-of-the-art multi-sensor fusion techniques and algorithms for object detection in autonomous driving applications. The current paper, therefore, provides an end-to-end review of the hardware and software methods required for sensor fusion object detection. We conclude by highlighting some of the challenges in the sensor fusion field and propose possible future research directions for automated driving systems.

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