scholarly journals A Novel Vehicle Detection Framework Based on Parallel Vision

2022 ◽  
Vol 2022 ◽  
pp. 1-11
Author(s):  
Ying Zhuo ◽  
Lan Yan ◽  
Wenbo Zheng ◽  
Yutian Zhang ◽  
Chao Gou
Keyword(s):  
Visual Information ◽  
Large Scale ◽  
Vehicle Detection ◽  
Real Data ◽  
Autonomous Driving ◽  
Research Topic ◽  
Traffic Data ◽  
Detection Model ◽  
Real Traffic ◽  
Virtual Data

Autonomous driving has become a prevalent research topic in recent years, arousing the attention of many academic universities and commercial companies. As human drivers rely on visual information to discern road conditions and make driving decisions, autonomous driving calls for vision systems such as vehicle detection models. These vision models require a large amount of labeled data while collecting and annotating the real traffic data are time-consuming and costly. Therefore, we present a novel vehicle detection framework based on the parallel vision to tackle the above issue, using the specially designed virtual data to help train the vehicle detection model. We also propose a method to construct large-scale artificial scenes and generate the virtual data for the vision-based autonomous driving schemes. Experimental results verify the effectiveness of our proposed framework, demonstrating that the combination of virtual and real data has better performance for training the vehicle detection model than the only use of real data.

scholarly journals Vehicle Detection and Ranging Using Two Different Focal Length Cameras

2020 ◽  
Vol 2020 ◽  
pp. 1-14 ◽  
Author(s):  
Jun Liu ◽  
Rui Zhang
Keyword(s):  
Real Time ◽  
Focal Length ◽  
Vehicle Detection ◽  
Autonomous Driving ◽  
License Plate ◽  
The Road ◽  
Detection Model ◽  
Automatic Driving ◽  
Convolution Structure ◽  
Model Size

Vehicle detection is a crucial task for autonomous driving and demands high accuracy and real-time speed. Considering that the current deep learning object detection model size is too large to be deployed on the vehicle, this paper introduces the lightweight network to modify the feature extraction layer of YOLOv3 and improve the remaining convolution structure, and the improved Lightweight YOLO network reduces the number of network parameters to a quarter. Then, the license plate is detected to calculate the actual vehicle width and the distance between the vehicles is estimated by the width. This paper proposes a detection and ranging fusion method based on two different focal length cameras to solve the problem of difficult detection and low accuracy caused by a small license plate when the distance is far away. The experimental results show that the average precision and recall of the Lightweight YOLO trained on the self-built dataset is 4.43% and 3.54% lower than YOLOv3, respectively, but the computing speed of the network decreases 49 ms per frame. The road experiments in different scenes also show that the long and short focal length camera fusion ranging method dramatically improves the accuracy and stability of ranging. The mean error of ranging results is less than 4%, and the range of stable ranging can reach 100 m. The proposed method can realize real-time vehicle detection and ranging on the on-board embedded platform Jetson Xavier, which satisfies the requirements of automatic driving environment perception.

From Neurorobotic Localization to Autonomous Vehicles

2019 ◽  
Vol 07 (03) ◽  
pp. 183-194
Author(s):  
Yoan Espada ◽  
Nicolas Cuperlier ◽  
Guillaume Bresson ◽  
Olivier Romain
Keyword(s):  
Visual Information ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Real Data ◽  
Autonomous Driving ◽  
Recognition System ◽  
Indoor Navigation ◽  
Learning System ◽  
Place Recognition ◽  
Outdoor Environments

The navigation of autonomous vehicles is confronted to the problem of an efficient place recognition system which is able to handle outdoor environments on the long run. The current Simultaneous Localization and Mapping (SLAM) and place recognition solutions have limitations that prevent them from achieving the performances needed for autonomous driving. This paper suggests handling the problem from another perspective by taking inspiration from biological models. We propose a neural architecture for the localization of an autonomous vehicle based on a neurorobotic model of the place cells (PC) found in the hippocampus of mammals. This model is based on an attentional mechanism and only takes into account visual information from a mono-camera and the orientation information to self-localize. It has the advantage to work with low resolution camera without the need of calibration. It also does not need a long learning phase as it uses a one-shot learning system. Such a localization model has already been integrated in a robot control architecture which allows for successful navigation both in indoor and small outdoor environments. The contribution of this paper is to study how it passes the scale change by evaluating the performance of this model over much larger outdoor environments. Eight experiments using real data (image and orientation) grabbed by a moving vehicle are studied (coming from the KITTI odometry datasets and datasets taken with VEDECOM vehicles). Results show the strong adaptability to different kinds of environments of this bio-inspired model primarily developed for indoor navigation.

scholarly journals Interaction-Aware Behavior Planning for Autonomous Vehicles Validated With Real Traffic Data

2020 ◽  
Author(s):  
Jinning Li ◽  
Liting Sun ◽  
Wei Zhan ◽  
Masayoshi Tomizuka
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous Driving ◽  
Change Scenario ◽  
Planning Problem ◽  
Traffic Data ◽  
Monte Carlo Tree Search ◽  
Lane Changes ◽  
Markov Decision ◽  
Partially Observable ◽  
Real Traffic

Abstract Autonomous vehicles (AVs) need to interact with other traffic participants who can be either cooperative or aggressive, attentive or inattentive. Such different characteristics can lead to quite different interactive behaviors. Hence, to achieve safe and efficient autonomous driving, AVs need to be aware of such uncertainties when they plan their own behaviors. In this paper, we formulate such a behavior planning problem as a partially observable Markov Decision Process (POMDP) where the cooperativeness of other traffic participants is treated as an unobservable state. Under different cooperativeness levels, we learn the human behavior models from real traffic data via the principle of maximum likelihood. Based on that, the POMDP problem is solved by Monte-Carlo Tree Search. We verify the proposed algorithm in both simulations and real traffic data on a lane change scenario, and the results show that the proposed algorithm can successfully finish the lane changes without collisions.

scholarly journals Flow and Density Estimation in Grenoble Using Real Data

2021 ◽  
Vol 5 (1) ◽  
pp. 43
Author(s):  
Martin Rodriguez-Vega ◽  
Carlos Canudas-de-Wit ◽  
Hassen Fourati
Keyword(s):  
Density Estimation ◽  
Estimation Method ◽  
Real Data ◽  
Stationary Flow ◽  
Traffic Data ◽  
Flow Sensors ◽  
Urban Networks ◽  
Study Case ◽  
The City ◽  
Real Traffic

This work deals with the Traffic State Estimation (TSE) problem for urban networks, using heterogeneous sources of data such as stationary flow sensors, Floating Car Data (FCD), and Automatic Vehicle Identifiers (AVI). A data-based flow and density estimation method is presented and tested using real traffic data. This work presents a study case applied to the downtown of the city of Grenoble in France, using the Grenoble Traffic Lab for urban networks (GTL-Ville), which is an experimental platform for real-time collection and analysis of traffic data.

scholarly journals Traffic Analysis of Specific Motorways with Different Usage Characteristics in Hungary with the Method of Section Control

2020 ◽  
Vol 13 (3) ◽  
pp. 211-245
Author(s):  
Zsolt Sándor ◽  
Ákos Monostori
Keyword(s):  
Traffic Safety ◽  
Large Scale ◽  
Traffic Analysis ◽  
Traffic Data ◽  
Speed Limits ◽  
Average Speed ◽  
The Road ◽  
Real Traffic ◽  
Made In

This article presents the result of the large-scale average speed analysis made in Hungary at two motorways in 12 different sections. During the analysis speeds of normal and reduced operations were analysed. This is the first analysis in Hungary which is based on real traffic data. Data from the enforcement system of the road usage right were used and these data were provided by the Hungarian National Toll Payment Service Plc. Results have shown that the majority of the drivers are not obey the speed limits, which has huge risk on traffic safety.

scholarly journals Weakly-Supervised Recommended Traversable Area Segmentation Using Automatically Labeled Images for Autonomous Driving in Pedestrian Environment with No Edges

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 437
Author(s):  
Yuya Onozuka ◽  
Ryosuke Matsumi ◽  
Motoki Shino
Keyword(s):  
Visual Information ◽  
Data Augmentation ◽  
Semantic Segmentation ◽  
Autonomous Driving ◽  
Weighting Method ◽  
Personal Mobility ◽  
Human Understanding ◽  
Autonomous Mobility ◽  
Weakly Supervised ◽  
Traffic Rules

Detection of traversable areas is essential to navigation of autonomous personal mobility systems in unknown pedestrian environments. However, traffic rules may recommend or require driving in specified areas, such as sidewalks, in environments where roadways and sidewalks coexist. Therefore, it is necessary for such autonomous mobility systems to estimate the areas that are mechanically traversable and recommended by traffic rules and to navigate based on this estimation. In this paper, we propose a method for weakly-supervised recommended traversable area segmentation in environments with no edges using automatically labeled images based on paths selected by humans. This approach is based on the idea that a human-selected driving path more accurately reflects both mechanical traversability and human understanding of traffic rules and visual information. In addition, we propose a data augmentation method and a loss weighting method for detecting the appropriate recommended traversable area from a single human-selected path. Evaluation of the results showed that the proposed learning methods are effective for recommended traversable area detection and found that weakly-supervised semantic segmentation using human-selected path information is useful for recommended area detection in environments with no edges.

scholarly journals Synthesis of Metal Organic Frameworks by Ball-Milling

Crystals ◽  
2020 ◽  
Vol 11 (1) ◽  
pp. 15
Author(s):  
Cheng-An Tao ◽  
Jian-Fang Wang
Keyword(s):  
Ball Milling ◽  
Large Scale ◽  
Raw Materials ◽  
Metal Organic Frameworks ◽  
Research Topic ◽  
Mass Ratio ◽  
Time Consumption ◽  
Metal Organic ◽  
Short Time ◽  
Made In

Metal-organic frameworks (MOFs) have been used in adsorption, separation, catalysis, sensing, photo/electro/magnetics, and biomedical fields because of their unique periodic pore structure and excellent properties and have become a hot research topic in recent years. Ball milling is a method of small pollution, short time-consumption, and large-scale synthesis of MOFs. In recent years, many important advances have been made. In this paper, the influencing factors of MOFs synthesized by grinding were reviewed systematically from four aspects: auxiliary additives, metal sources, organic linkers, and reaction specific conditions (such as frequency, reaction time, and mass ratio of ball and raw materials). The prospect for the future development of the synthesis of MOFs by grinding was proposed.

scholarly journals Parallel Point Clouds: Hybrid Point Cloud Generation and 3D Model Enhancement via Virtual–Real Integration

2021 ◽  
Vol 13 (15) ◽  
pp. 2868
Author(s):  
Yonglin Tian ◽  
Xiao Wang ◽  
Yu Shen ◽  
Zhongzheng Guo ◽  
Zilei Wang ◽  
...  
Keyword(s):  
Point Cloud ◽  
Closed Loop ◽  
Real Data ◽  
Point Clouds ◽  
Autonomous Driving ◽  
Training Model ◽  
Labor Cost ◽  
Open Loop ◽  
Training Dataset ◽  
Data Annotation

Three-dimensional information perception from point clouds is of vital importance for improving the ability of machines to understand the world, especially for autonomous driving and unmanned aerial vehicles. Data annotation for point clouds is one of the most challenging and costly tasks. In this paper, we propose a closed-loop and virtual–real interactive point cloud generation and model-upgrading framework called Parallel Point Clouds (PPCs). To our best knowledge, this is the first time that the training model has been changed from an open-loop to a closed-loop mechanism. The feedback from the evaluation results is used to update the training dataset, benefiting from the flexibility of artificial scenes. Under the framework, a point-based LiDAR simulation model is proposed, which greatly simplifies the scanning operation. Besides, a group-based placing method is put forward to integrate hybrid point clouds, via locating candidate positions for virtual objects in real scenes. Taking advantage of the CAD models and mobile LiDAR devices, two hybrid point cloud datasets, i.e., ShapeKITTI and MobilePointClouds, are built for 3D detection tasks. With almost zero labor cost on data annotation for newly added objects, the models (PointPillars) trained with ShapeKITTI and MobilePointClouds achieved 78.6% and 60.0% of the average precision of the model trained with real data on 3D detection, respectively.

scholarly journals Automatic Roadway Features Detection with Oriented Object Detection

2021 ◽  
Vol 11 (8) ◽  
pp. 3531
Author(s):  
Hesham M. Eraqi ◽  
Karim Soliman ◽  
Dalia Said ◽  
Omar R. Elezaby ◽  
Mohamed N. Moustafa ◽  
...  
Keyword(s):  
Object Detection ◽  
Safety Evaluation ◽  
Autonomous Driving ◽  
Detection Accuracy ◽  
The Road ◽  
Detection Model ◽  
Detection Approach ◽  
Roadway Safety ◽  
Safety Features ◽  
Oriented Object

Extensive research efforts have been devoted to identify and improve roadway features that impact safety. Maintaining roadway safety features relies on costly manual operations of regular road surveying and data analysis. This paper introduces an automatic roadway safety features detection approach, which harnesses the potential of artificial intelligence (AI) computer vision to make the process more efficient and less costly. Given a front-facing camera and a global positioning system (GPS) sensor, the proposed system automatically evaluates ten roadway safety features. The system is composed of an oriented (or rotated) object detection model, which solves an orientation encoding discontinuity problem to improve detection accuracy, and a rule-based roadway safety evaluation module. To train and validate the proposed model, a fully-annotated dataset for roadway safety features extraction was collected covering 473 km of roads. The proposed method baseline results are found encouraging when compared to the state-of-the-art models. Different oriented object detection strategies are presented and discussed, and the developed model resulted in improving the mean average precision (mAP) by 16.9% when compared with the literature. The roadway safety feature average prediction accuracy is 84.39% and ranges between 91.11% and 63.12%. The introduced model can pervasively enable/disable autonomous driving (AD) based on safety features of the road; and empower connected vehicles (CV) to send and receive estimated safety features, alerting drivers about black spots or relatively less-safe segments or roads.

scholarly journals Constructing Large-Scale Genetic Maps Using an Evolutionary Strategy Algorithm

Genetics ◽  
2003 ◽  
Vol 165 (4) ◽  
pp. 2269-2282
Author(s):  
D Mester ◽  
Y Ronin ◽  
D Minkov ◽  
E Nevo ◽  
A Korol
Keyword(s):  
Discrete Optimization ◽  
High Performance ◽  
Large Scale ◽  
Simulated Data ◽  
Real Data ◽  
Genetic Maps ◽  
Chromosome 1 ◽  
Evolutionary Strategy ◽  
Group A ◽  
The One

Abstract This article is devoted to the problem of ordering in linkage groups with many dozens or even hundreds of markers. The ordering problem belongs to the field of discrete optimization on a set of all possible orders, amounting to n!/2 for n loci; hence it is considered an NP-hard problem. Several authors attempted to employ the methods developed in the well-known traveling salesman problem (TSP) for multilocus ordering, using the assumption that for a set of linked loci the true order will be the one that minimizes the total length of the linkage group. A novel, fast, and reliable algorithm developed for the TSP and based on evolution-strategy discrete optimization was applied in this study for multilocus ordering on the basis of pairwise recombination frequencies. The quality of derived maps under various complications (dominant vs. codominant markers, marker misclassification, negative and positive interference, and missing data) was analyzed using simulated data with ∼50-400 markers. High performance of the employed algorithm allows systematic treatment of the problem of verification of the obtained multilocus orders on the basis of computing-intensive bootstrap and/or jackknife approaches for detecting and removing questionable marker scores, thereby stabilizing the resulting maps. Parallel calculation technology can easily be adopted for further acceleration of the proposed algorithm. Real data analysis (on maize chromosome 1 with 230 markers) is provided to illustrate the proposed methodology.

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