Road curb detection and tracking is essential for the autonomous driving of intelligent vehicles on highways and urban roads. In this paper, we present a fast and robust road curb detection algorithm using 3D lidar da...
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ISBN:
(纸本)9781467327435;9781467327428
Road curb detection and tracking is essential for the autonomous driving of intelligent vehicles on highways and urban roads. In this paper, we present a fast and robust road curb detection algorithm using 3D lidar data and Integral Laser Points (ILP) features. Range and intensity data of the 3D lidar is decomposed into elevation data and data projected on the ground plane. First, left and right road curbs are detected for each scan line using the ground projected range and intensity data and line segment features. then, curb points of each scan line are determined using elevation data. the ILP features are proposed to speed up the both detection procedures. Finally, parabola model and RANSAC algorithm is used to fit the left and right curb points and generate vehicle controlling parameters. the proposed method and feature provide fast and reliable road curb detection speed and performance. Experiments show good results on various highways and urban roads under different situations.
the paper introduces a worst-case optimal tableau algorithm for reasoning with Forest logic Programs, a decidable fragment of Open Answer Set programming. FoLPs are a useful device for tight integration of the Descrip...
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Mechanical proof assistants have always had support for inductive proofs. Sometimes an alternative to proof assistants. satisfiability modulo theories (SMT) solvers bring the hope of a higher degree of automation. How...
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ISBN:
(纸本)9783642279393;9783642279409
Mechanical proof assistants have always had support for inductive proofs. Sometimes an alternative to proof assistants. satisfiability modulo theories (SMT) solvers bring the hope of a higher degree of automation. However. SMT solvers do not natively support induction, so inductive proofs require some encoding into the SMT solver's input. this paper shows a surprisingly simple tactic a rewriting strategy and a heuristic for when to apply it that has shown to be useful in verifying simple inductivetheorems, like those that can occur during program verification. the paper describes the tactic and its implementation in a program verifier. and reports on the positive experience with using the tactic.
Answer set programming is a programming paradigm where a given problem is formalized as a logic program whose answer sets correspond to the solutions to the problem. In this paper, we link answer set programming with ...
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the proceedings contain 23 papers. the topics discussed include: transitive separation logic;unifying lazy and strict computations;foundations of coloring algebra with consequences for feature-oriented programming;tow...
ISBN:
(纸本)9783642333132
the proceedings contain 23 papers. the topics discussed include: transitive separation logic;unifying lazy and strict computations;foundations of coloring algebra with consequences for feature-oriented programming;towards an algebra for real-time programs;automated reasoning in higher-order regular algebra;towards certifiable implementation of graph transformation via relation categories;simple rectangle-based functional programs for computing reflexive-transitive closures;using relations to develop a haskell program for computing maximum bipartite matchings;relations as executable specifications: taming partiality and non-determinism using invariants;left-handed completeness;on completeness of omega-regular algebras;categories of algebraic contexts equivalent to idempotent semirings and domain semirings;and relational representation theorem for powerset quantales.
We present a system capable of automatically solving combinatorial logic puzzles given in (simplified) English. It uses an ontology to represent the puzzles in ASP which is applicable to a large set of logic puzzles. ...
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Possibilistic logic is a well-known logic for reasoning under uncertainty, which is based on the idea that the epistemic state of an agent can be modeled by assigning to each possible world a degree of possibility, ta...
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A large and complex knowledge base that models some aspect of the real world can rarely be fully specified. Two examples of such underspecification are that (i) some of the cardinality constraints are omitted;(ii) som...
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Automatically deriving properties of new games is one of the fundamental challenges for general game-playing systems, whose task is to learn to play any previously unknown game solely by being given the rules of that ...
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the advance of Internet and Sensor technology has brought about new challenges evoked by the emergence of continuous data streams. While existing data-stream management systems allow for high-throughput stream process...
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