Localization of intelligent ground vehicles in outdoor urban environments using stereovision and GPS integration

Author(s):  
Lijun Wei ◽  
Cindy Cappelle ◽  
Yassine Ruichek
Sensors ◽  
2018 ◽  
Vol 18 (7) ◽  
pp. 2160 ◽  
Author(s):  
Wei Li ◽  
Wenyi Li ◽  
Xiaowei Cui ◽  
Sihao Zhao ◽  
Mingquan Lu

Author(s):  
Akin Tatoglu ◽  
Eoin King ◽  
Jarrett Lagler

Unmanned ground vehicles (UGV) and self-driving cars utilize visual sensors including cameras, Lidars and radars not only for localization and obstacle avoidance purposes but also to generate a 3D map of the surroundings. When an emergency vehicle — such as a fire truck or an ambulance — is approaching, self-driving cars are required to modify their path plan and find a safe spot rapidly. However early detection of a fast approaching emergency vehicle in urban environment is challenging with a visual perception system since it requires direct view without an obstacle in between. To improve the safety of self-driving cars, a localization algorithm is required to maximize the path modification time constraint as well as to minimize location and direction detection time, especially at an intersection in urban environments. To overcome this challenge, we mounted a transducer array on top of a mobile robot and applied beam forming algorithms to predict the location and velocity vector of the remote dynamic vehicle. Even with high uncertainty, this strategy improved time requirement of occupancy grid update which marks all possible unsafe areas to avoid a collision. Two experimental setups of controlled and uncontrolled environments were prepared. Followed by preliminary transducer characteristic analysis in an anechoic chamber, an outdoor experiment with two mobile robots are executed to benchmark the capability of signal processing techniques while both source and observer are in motion.


2012 ◽  
Vol 7 (1) ◽  
pp. 26-48 ◽  
Author(s):  
Ronny Ophir-Arbelle ◽  
Tal Oron-Gilad ◽  
Avinoam Borowsky ◽  
Yisrael Parmet

Operational tactics in urban areas are often aided by information from unmanned aerial vehicles (UAVs). A major challenge for dismounted soldiers, particularly in urban environments, is to understand the conflict area in general and particularly from the UAV feed. The UAV feed is usually used to enhance soldiers’ situation awareness abilities but less for identifying specific elements. A possible way to further enhance soldiers’ abilities is to provide them with multiple sources of information (e.g., aerial and ground views). This study examined the benefits of presenting video feed from UAVs and unmanned ground vehicles (UGVs) in a combined interface, relative to presenting aerial feed alone. Thirty former infantry soldiers with no experience in operating unmanned vehicles participated. Objective performance, subjective evaluations, and eye-tracking patterns were examined in two scenarios. In Scenario 1, performance scores in both identification and orientation tasks were superior in the combined configuration. In Scenario 2, performance scores in the identification tasks were improved, and the addition of the UGV feed did not harm performance in the orientation task. Eye movement scanning patterns reinforced that both UAV and UGV feeds were used for the mission. The combined configuration generated consistent benefits with regard to the identification tasks, perceived mental demand, and reduction of false reports without having any apparent cost on participants. Ground views may provide additional support to dismounted soldiers.


2014 ◽  
Author(s):  
Chrono Nu ◽  
Katie Mullin ◽  
Hailey Edwards ◽  
Kailey Kornhauser ◽  
Russell Costa ◽  
...  

TERRITORIO ◽  
2020 ◽  
pp. 148-163
Author(s):  
Luca Fondacci

In the 1970s, the fragile historical centre of the city of Perugia was a key area where the binomial of sustainable mobility and urban regeneration was developed and applied. At the turn of the xxi century, the low carbon automatic people-mover Minimetrò broadened that application from the city's historical centre to the outskirts, promoting the enhancement of several urban environments. This paper is the outcome of an investigation of original sources, field surveys and direct interviews, which addresses the Minimetrò as the backbone of a wide regeneration process which has had a considerable impact on the economic development of a peripheral area of the city which was previously devoid of any clear urban sense. The conclusion proposes some solutions to improve the nature of the Minimetrò as an experimental alternative means of transport.


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