scholarly journals SemanticDepth: Fusing Semantic Segmentation and Monocular Depth Estimation for Enabling Autonomous Driving in Roads without Lane Lines

Sensors ◽  
2019 ◽  
Vol 19 (14) ◽  
pp. 3224 ◽  
Author(s):  
Pablo R. Palafox ◽  
Johannes Betz ◽  
Felix Nobis ◽  
Konstantin Riedl ◽  
Markus Lienkamp
Keyword(s):  
Semantic Segmentation ◽  
Depth Estimation ◽  
Autonomous Driving ◽  
Warning Systems ◽  
The Road ◽  
Lane Departure ◽  
Rgb Images ◽  
Monocular Depth ◽  
On The Road ◽  
The City

Typically, lane departure warning systems rely on lane lines being present on the road.However, in many scenarios, e.g., secondary roads or some streets in cities, lane lines are eithernot present or not sufficiently well signaled. In this work, we present a vision-based method tolocate a vehicle within the road when no lane lines are present using only RGB images as input.To this end, we propose to fuse together the outputs of a semantic segmentation and a monoculardepth estimation architecture to reconstruct locally a semantic 3D point cloud of the viewed scene.We only retain points belonging to the road and, additionally, to any kind of fences or walls thatmight be present right at the sides of the road. We then compute the width of the road at a certainpoint on the planned trajectory and, additionally, what we denote as the fence-to-fence distance.Our system is suited to any kind of motoring scenario and is especially useful when lane lines arenot present on the road or do not signal the path correctly. The additional fence-to-fence distancecomputation is complementary to the road’s width estimation. We quantitatively test our methodon a set of images featuring streets of the city of Munich that contain a road-fence structure, so asto compare our two proposed variants, namely the road’s width and the fence-to-fence distancecomputation. In addition, we also validate our system qualitatively on the Stuttgart sequence of thepublicly available Cityscapes dataset, where no fences or walls are present at the sides of the road,thus demonstrating that our system can be deployed in a standard city-like environment. For thebenefit of the community, we make our software open source.

TO THE QUESTION OF THE IMPACT OF CLIMATE CHANGE ON THE ECOLOGICAL STATE OF ARTIFICIAL PLANTATIONS OF PITSUNDSKAYA PINE IN THE SEASIDE AREA OF GELENDZHIK

2017 ◽  
Author(s):  
Elizaveta Derevenets ◽  
Elizaveta Derevenets
Keyword(s):  
Negative Impact ◽  
Standard Technique ◽  
Negative Influence ◽  
Exhaust Gases ◽  
The Road ◽  
Industrial Enterprises ◽  
Federal Highway ◽  
On The Road ◽  
The Impact ◽  
The City

Gelendzhik is the resort town, there aren't a lot of industrial enterprises here. The main pollutant is transport. The work purpose is the assessment of a condition of the artificial landings of a pine located along the Federal highway "Don" and landings, which is nearly the sea coast. Researches were conducted to a standard technique of the General vital state (A. S. Bogolyubov). The assessment of a condition of pines was carried out during 6 years: from 2010 to 2015. For carrying out research we used 6 experimental grounds on the Markotkhsky spine and 2 control grounds within the town. We investigated 24 trees on each platform, middle age of the trees were 30 - 40 years. Results. 1. The condition of trees in the pine forests located in immediate proximity with the Federal highway "Don" (No. 1, 2, 3) is unsatisfactory. As even weak influences of the majority of atmospheric gaseous pollutants (sulphurous gas, nitrogen oxides, etc.) give effect of a necrosis and hloroz of pine needles, the condition of pines is connected with technogenic pollution. So near the Federal highway "Don" the air environment is strongly polluted by exhaust gases. Information of 2012 confirm that negative influence of the route on Markotkh's vegetation decreases at reduction of load of the route. 2. On the sites located above on a slope (No. 4,5,6) thanks to remoteness and the wind mode intensity of influence of pollutants is lower and a condition of pines the quite satisfactory. 3. Trees on the sites located near the sea (No. 7,8) are in a good shape. Small deterioration of a state is noted in very droughty years. Conclusion. Results of six years' research show that the condition of the plantings which are in close proximity with the road worsens. It is explained by increase in intensity of the movement on the road, especially during a resort season. Gelendzhik is the city with a good ecological shape, but the damage to environment is already caused. If not to take measures, we can lose a unique part of the nature in the future, recreate it will be impossible. Measures of reduction of negative impact of exhaust gases were offered. Results of researches are transferred to ecological department of the City administration of Gelendzhik.

Unsupervised Monocular Depth Estimation for Autonomous Driving

2019 ◽  
pp. 128
Author(s):  
Chih-Shuan Huang ◽  
Wan-Nung Tsung ◽  
Wei-Jong Yang ◽  
Chin-Hsing Chen
Keyword(s):  
Depth Estimation ◽  
Autonomous Driving ◽  
Monocular Depth

TO THE QUESTION OF THE IMPACT OF CLIMATE CHANGE ON THE ECOLOGICAL STATE OF ARTIFICIAL PLANTATIONS OF PITSUNDSKAYA PINE IN THE SEASIDE AREA OF GELENDZHIK

2017 ◽  
Author(s):  
Elizaveta Derevenets ◽  
Elizaveta Derevenets
Keyword(s):  
Negative Impact ◽  
Standard Technique ◽  
Negative Influence ◽  
Exhaust Gases ◽  
The Road ◽  
Industrial Enterprises ◽  
Federal Highway ◽  
On The Road ◽  
The Impact ◽  
The City

Gelendzhik is the resort town, there aren't a lot of industrial enterprises here. The main pollutant is transport. The work purpose is the assessment of a condition of the artificial landings of a pine located along the Federal highway "Don" and landings, which is nearly the sea coast. Researches were conducted to a standard technique of the General vital state (A. S. Bogolyubov). The assessment of a condition of pines was carried out during 6 years: from 2010 to 2015. For carrying out research we used 6 experimental grounds on the Markotkhsky spine and 2 control grounds within the town. We investigated 24 trees on each platform, middle age of the trees were 30 - 40 years. Results. 1. The condition of trees in the pine forests located in immediate proximity with the Federal highway "Don" (No. 1, 2, 3) is unsatisfactory. As even weak influences of the majority of atmospheric gaseous pollutants (sulphurous gas, nitrogen oxides, etc.) give effect of a necrosis and hloroz of pine needles, the condition of pines is connected with technogenic pollution. So near the Federal highway "Don" the air environment is strongly polluted by exhaust gases. Information of 2012 confirm that negative influence of the route on Markotkh's vegetation decreases at reduction of load of the route. 2. On the sites located above on a slope (No. 4,5,6) thanks to remoteness and the wind mode intensity of influence of pollutants is lower and a condition of pines the quite satisfactory. 3. Trees on the sites located near the sea (No. 7,8) are in a good shape. Small deterioration of a state is noted in very droughty years. Conclusion. Results of six years' research show that the condition of the plantings which are in close proximity with the road worsens. It is explained by increase in intensity of the movement on the road, especially during a resort season. Gelendzhik is the city with a good ecological shape, but the damage to environment is already caused. If not to take measures, we can lose a unique part of the nature in the future, recreate it will be impossible. Measures of reduction of negative impact of exhaust gases were offered. Results of researches are transferred to ecological department of the City administration of Gelendzhik.

scholarly journals Extracting Road Traffic Volume in the City before and during covid-19 through Video Remote Sensing

2021 ◽  
Vol 13 (12) ◽  
pp. 2329
Author(s):  
Elżbieta Macioszek ◽  
Agata Kurek
Keyword(s):  
Travel Behavior ◽  
Traffic Management ◽  
Road Traffic ◽  
Traffic Volume ◽  
The Road ◽  
Traffic Characteristics ◽  
Annual Average Daily Traffic ◽  
On The Road ◽  
The Impact ◽  
The City

Continuous, automatic measurements of road traffic volume allow the obtaining of information on daily, weekly or seasonal fluctuations in road traffic volume. They are the basis for calculating the annual average daily traffic volume, obtaining information about the relevant traffic volume, or calculating indicators for converting traffic volume from short-term measurements to average daily traffic volume. The covid-19 pandemic has contributed to extensive social and economic anomalies worldwide. In addition to the health consequences, the impact on travel behavior on the transport network was also sudden, extensive, and unpredictable. Changes in the transport behavior resulted in different values of traffic volume on the road and street network than before. The article presents road traffic volume analysis in the city before and during the restrictions related to covid-19. Selected traffic characteristics were compared for 2019 and 2020. This analysis made it possible to characterize the daily, weekly and annual variability of traffic volume in 2019 and 2020. Moreover, the article attempts to estimate daily traffic patterns at particular stages of the pandemic. These types of patterns were also constructed for the weeks in 2019 corresponding to these stages of the pandemic. Daily traffic volume distributions in 2020 were compared with the corresponding ones in 2019. The obtained results may be useful in terms of planning operational and strategic activities in the field of traffic management in the city and management in subsequent stages of a pandemic or subsequent pandemics.

Mitigation of road traffic crash hazard in Pakistan

2014 ◽  
Vol 23 (5) ◽  
pp. 567-585
Author(s):  
Muhammad Masood Rafi ◽  
Ashar Hashmat Lodi ◽  
Muhammad Arsalan Effendi
Keyword(s):  
Road Traffic ◽  
Evaluation Model ◽  
Road Traffic Crash ◽  
Potential Hazard ◽  
Suggested Model ◽  
Male Population ◽  
Content Type ◽  
The Road ◽  
On The Road ◽  
The City

Purpose – Road traffic crashes (RTCs) result in creating significant social and economic hazard for affectees, their families and society. The purpose of this paper is to present studies which were conducted to study the patterns of RTCs in Karachi which is a metropolitan city of Pakistan. The studies were conducted on one of the busiest roads in the city named as Shara-e-Faisal. The influence and contribution of different factors in RTCs has been studied and hazardous road sections of Shara-e-Faisal have been identified. Based on the data analysis, an evaluation model has been suggested to reduce the hazard of RTCs on Shara-e-Faisal. The objective of the presented studies is to increase the present level of safety of road travel by reducing crashes on Shara-e-Faisal. Design/methodology/approach – Existing data of RTCs in Karachi have been analysed for the presented studies. For this purpose, Shara-e-Faisal was divided in sections of 1 km length to study the vehicle crash pattern. Location surveys were conducted to record physical conditions of this road. A cluster analysis was carried out to identify hazardous sections of the road. An evaluation model has been suggested in the end to reduce the hazard of RTCs by identifying hazardous road sections of Shara-e-Faisal. Findings – The analysis of the data revealed that the crashes were higher over weekend and on Monday. Male population, particularly young people, and motorcycle riders were the largest affectees of RTCs. In general, more daytime crashes were recorded as compared to nighttime crashes. The crashes in the mid block of the road and those involving rear-end collisions were higher. The hazardous road locations were related to poor road conditions. Statistical analysis indicated that alternate routes were required to reduce the RTC hazard on Shara-e-Faisal. Research limitations/implications – The paper is a small, but an original, contribution to identify a potential hazard which is faced by the community in the city. This is the first attempt (to the best of authors’ knowledge) to address the issue of RTCs in Karachi from an engineering view point. Practical implications – The suggested model can be employed by the authorities as a guideline to mitigate the hazard of road crashes in the country. Originality/value – The paper provides valuable information on the road traffic incidents, their pattern and contributing factors in one of the largest metropolis of Pakistan. The suggested model can become helpful in reducing RTCs in Pakistan.

Art. VII.—An Account of Jerusalem, translated for the late Sir H. M. Elliot, from the Persian text of Náṣir ibn Khusrú's Safarnámah

1873 ◽  
Vol 6 (1) ◽  
pp. 142-164
Author(s):  
A. R. Fuller
Keyword(s):  
The Other ◽  
The Road ◽  
On The Road ◽  
The Hill ◽  
The City

On the 3rd of Ramazán, I left Ramlah, and went to a village called Khátún, and from thence to another, which they styled Kariatu-l-'Anab (Grape hamlet). On the road I observed plenty of wild rue growing spontaneously on hill and dale. I also noticed at this village a very delightful spring of water gushing out of a rock, where they had constructed reservoirs, and built edifices. From thence I proceeded up some rising ground, under the impression that I was ascending a hill, and that on going down the other side the city would lie before me. After I had climbed the ascent however for a short way, a vast wilderness lay in my front, partly stony, and partly showing merely the bare earth. At the summit of the hill stands the city of the “Baitu-l-Mukaddas” (Sacred Tabernacle, i.e. Jerusalem), between which and Tarábulis, whichis on the coast, are 56 parasangs, and from Balkh to Jerusalem 876.

scholarly journals Analisis pengaruh V/C ratio lalu lintas kendaraan terhadap tingkat polusi udara berdasarkan volume lalu lintas kendaraan (studi di kawasan persimpangan Mall SKA Kota Pekanbaru)

Jurnal Zona ◽  
2021 ◽  
Vol 1 (2) ◽  
pp. 64-74
Author(s):  
Muhammad Yevizal ◽  
Aras Mulyadi ◽  
Ferry Fatnanta
Keyword(s):  
Quality Standards ◽  
Quality Standard ◽  
Observation Point ◽  
Pollutant Emissions ◽  
Noise Levels ◽  
The Road ◽  
Road Users ◽  
Bus Lane ◽  
On The Road ◽  
The City

Completion of the transportation problems in the city of Pekanbaru currently only looked at in terms of congestion, but not touching insights from environmental aspects such as performance air pollution and noise levels. This research was conducted at the observation point road ahead Repair Tambusai lord Eastern Daihatshu, road Tuanku Tambusai West Side Mall SKA, North Soekarno Hatta street front retail outlets, street front Soekarno Hatta South Hotel Ibis Pekanbaru. V / C Ratio highest in the afternoon rush hour on the road ahead Tambusai lord Stations Daihatsu ie 0.86 pelyanan road performance E. Quality Standard ambient NOx emissions do not exceed the threshold of ambient quality standards, the NOx emission = 281.76 mg/m3. Quality Standard ambient CO emissions do not exceed the threshold of ambient quality standards, namely emission = 7456.79 mg/m3, the noise level over the limit of noise that is 71.41 dB (A). To balance the load reduction in pollutant emissions and noise levels at the flyover plan with the plan of special bus lane traffic volume assumptions have to move 25% of the transfer of the road users of private vehicles and motorbikes switch to using mass public transport vehicles ie Trans Metro bus Pekanbaru.

Creating Cultural Capital: The Education of Jewish Females at the Alliance Israélite Universelle (AIU) School for Girls in the City of Tunis, 1882–1914

Hawwa ◽  
2021 ◽  
pp. 1-59
Author(s):  
Joy A. Land
Keyword(s):  
Cultural Capital ◽  
Economic Capital ◽  
Jewish Women ◽  
Economic Independence ◽  
The Road ◽  
The World ◽  
Female Wage ◽  
On The Road ◽  
The City ◽  
Alliance Israelite Universelle

Abstract Based on rarely viewed images from the fin de siècle, this article will contribute to the burgeoning field of Jewish women in the world of Islam. At the Alliance Israélite Universelle (AIU) School for Girls in the city of Tunis, 1882–1914, after a seven-year course of study, Jewish and non-Jewish girls acquired certification of their academic or vocational skills through a certificate or diploma of couture. Such credentials, according to Bourdieu (1986), constitute “cultural capital.” Furthermore, “cultural capital … is convertible … into economic capital and may be institutionalized in the forms of educational qualifications.” A young woman could create cultural capital and transform it into economic capital through employment. Reading the sources, the influence of the Tunisian Muslim woman on the Jewess becomes apparent. Moreover, cultural capital could afford the Jewish female wage earner increased economic independence and social mobility, as she journeyed on the road to modernity.

THE EFFECTIVENESS OF REGIONAL REGULATION NO. 4 OF 2012 ON PUBLIC SERVICE LEVIES IN THE FRAMEWORK ORDER CREATING TRAFFIC ON THE ROAD SURYAKENCANA CITY OF BOGOR

2015 ◽  
Vol 1 (2) ◽  
pp. 141-155
Author(s):  
Mul Yadi ◽  
Harry Rudyantoro ◽  
Ujang Bahar
Keyword(s):  
The Road ◽  
Positive Law ◽  
Road Users ◽  
Public Road ◽  
The People ◽  
Parking Lot ◽  
The Government ◽  
On The Road ◽  
Legal Discovery ◽  
The City

ABSTRACT  Related to the implementation of the Regional Regulation (Perda) about the increase in parking rates at the edge of the road prone to congestion in the city of Bogor ratified and entered into force on July 2, 2012, The first location that imposed this tariff is the Way Suryakencana and Jalan Siliwangi Bogor and the second location is the application of The Government through the Department trials Traffic Transportation (DLLAJ) Bogor City gets a reaction from the people around Jalan Suryakencana. Enactment of the increase in parking rates at Jalan Bogor Suryakencana expected to reduce illegal parking of vehicles in the area, which has been causing congestion. With parking rates that have been enacted many road users who park their vehicles in multiple and indiscriminate. The method used in this study is empirical juridical approach. The study, based on an inventory of positive law, the discovery of the principles of law and legal discovery inconcretto, which include observation of empirical operationalization of law in society. The conclusion from this study is the basis of the application of the levy Parking Services Bank Public Road, especially in the city of Bogor is Law No. 28 of 2009 on Regional Taxes and Levies and Regional Regulation No. 4 of 2012. Implementation of Regional Regulation No. 4 of 2012 on Increase Rates Parking is not yet fully effective this is due to high payments also has not been matched with adequate services, the responsibility for the damage and loss still be a burden for the owner of the vehicle so that the functions and responsibilities of the government that deal with parking problems is questionable. Impact parking tariff policy to demand that any increase in the parking rate of 10 percent would result in a decrease in the use of parking of 0.7 -0.8 percent, increase use of public transport and cycling amounted to 3.71 percent of 0.9 percent. This figure is even greater in the short term, when applied can lead to a new increase in the elasticity to be about - 0.28., Where the parking lot reducing the length of parking time and reduce the amount of parking.  Keywords: Regional Regulation, Rates Parking, Traffic Order

scholarly journals U-Net-Id, an Instance Segmentation Model for Building Extraction from Satellite Images—Case Study in the Joanópolis City, Brazil

2020 ◽  
Vol 12 (10) ◽  
pp. 1544 ◽  
Author(s):  
Fabien H. Wagner ◽  
Ricardo Dalagnol ◽  
Yuliya Tarabalka ◽  
Tassiana Y. F. Segantine ◽  
Rogério Thomé ◽  
...  
Keyword(s):  
Network Architecture ◽  
Satellite Images ◽  
Semantic Segmentation ◽  
Developed Countries ◽  
Building Extraction ◽  
Neural Network Architecture ◽  
Rgb Images ◽  
The City ◽  
Instance Segmentation

Currently, there exists a growing demand for individual building mapping in regions of rapid urban growth in less-developed countries. Most existing methods can segment buildings but cannot discriminate adjacent buildings. Here, we present a new convolutional neural network architecture (CNN) called U-net-id that performs building instance segmentation. The proposed network is trained with WorldView-3 satellite RGB images (0.3 m) and three different labeled masks. The first is the building mask; the second is the border mask, which is the border of the building segment with 4 pixels added outside and 3 pixels inside; and the third is the inner segment mask, which is the segment of the building diminished by 2 pixels. The architecture consists of three parallel paths, one for each mask, all starting with a U-net model. To accurately capture the overlap between the masks, all activation layers of the U-nets are copied and concatenated on each path and sent to two additional convolutional layers before the output activation layers. The method was tested with a dataset of 7563 manually delineated individual buildings of the city of Joanópolis-SP, Brazil. On this dataset, the semantic segmentation showed an overall accuracy of 97.67% and an F1-Score of 0.937 and the building individual instance segmentation showed good performance with a mean intersection over union (IoU) of 0.582 (median IoU = 0.694).

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