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TDA2X, A SOC OPTIMIZED FOR ADVANCED DRIVER ASSISTANCE SYSTEMS

TDA2X, A SOC OPTIMIZED FOR ADVANCED DRIVER ASSISTANCE SYSTEM...

引用

IEEE International conference on Acoustics, Speech and Signal Processing (ICASSP)

作者： Sankaran, Jagadeesh Zoran, Nikolic Texas Instruments Inc Dallas TX 13532 USA

ISBN: (纸本)9781479928934

TDA2X is an optimized scalable system on chip (SoC) solution from Texas Instruments that spans various application areas of ADAS such as front-camera, surround-view and the emerging area of sensor fusion. It accomplishes this through a focused set of heterogeneous processors, brought together in a scalable architecture with a rich set of integrated peripherals, providing an optimal mix of performance in a low power footprint for Advanced Driver Assistance Systems (ADAS) vision analytics. Computer vision algorithms across the various ADAS application systems have a rich variation and diversity in processing requirements along with the need to run them concurrently within challenging thermal budgets. A heterogeneous architecture with various programmable elements allows system developers to map various portions of the algorithms to the architectures that are best suited for the underlying task allowing maximizing system performance and reducing development time and effort in developing these complex systems. Scalability of the architecture by varying the number of cores and clock speeds of these heterogeneous architectures, allows for scalability in performance and power across low, mid and high end products with one software investment. A critical focus on functional safety across the cores and various memories is particularly essential given the mission critical nature of ADAS applications.

关键词： ADAS SoC Front Camera Surround view sensor fusion and Programmable vision Accelerators

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Cluster-Based Time Synchronization Protocol for Wireless sensor Networks

Cluster-Based Time Synchronization Protocol for Wireless Sen...

引用

14th International conference on algorithms and architectures for Parallel Processing (ICA3PP)

作者： Zhang, Jian Lin, Shiping Liu, Dandan Wuhan Univ Comp Sch Wuhan 430072 Peoples R China

ISBN: (纸本)9783319111971;9783319111964

Time synchronization is one of the most important premises for many applications in wireless sensor networks, including data fusion, target tracking, military surveillance, etc. Existing protocols generally suffered from higher energy consumption, worse accuracy or applicable only in small wireless sensor networks. In this paper, we propose a novel cluster based time synchronization method for large-scale wireless sensor networks. First, a cluster tree is constructed as the backbone. Then, after network clustering is completed, different time synchronization mechanisms are applied within cluster head nodes and cluster members, respectively. The theoretical analysis and simulation results show that the proposed algorithm can effectively reduce energy consumption comparing to existing protocols, while it also achieves the high accuracy of time synchronization.

关键词： Time synchronization clustering energy efficient wireless sensor networks

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Eliminating Mutual views in fusion of Ranging and RGB-D Data From Robot Teams Operating in Confined Areas

Eliminating Mutual Views in Fusion of Ranging and RGB-D Data...

引用

conference on Multisensor, Multisource Information fusion - architectures, algorithms, and applications

作者： Lyons, Damian M. Shrestha, Karma Fordham Univ Robot & Comp Vis Lab Bronx NY 10458 USA

ISBN: (纸本)9781628410587

We address the problem of fusing laser and RGB-Data from multiple robots operating in close proximity to one another. By having a team of robots working together, a large area can be scanned quickly, or a smaller area scanned in greater detail. However, a key aspect of this problem is the elimination of the spurious readings due to the robots operating in close proximity. While there is an extensive literature on the mapping and localization aspect of this problem, our problem differs from the dynamic map problem in that it involves at one kind of transient map feature, robots viewing other robots, and we know that we wish to completely eliminate all such mutual views. In prior work, we investigated the problem of fusing laser data from multiple robots in such a manner as to reject this spurious data from other robots. This work showed that a combination of local robot-based direction filtering and global map-based visibility filtering at a central map server removed 91% of the spurious data and resulted in a 98% quality improvement. In this paper we additionally consider the problem of fusing RGB-D data generated by a stereo-camera sensor. An approach based on a model of human visual attention is presented and compared with our prior work and with other related work. This approach is an order of magnitude faster than the prior work and yet rejects 73% of the spurious data producing a 55% quality improvement. Results are shown for this approach for two experiments with a two robot team operating in a confined indoor environment (4m x 4m).

关键词： cognitive robotics navigation sensory fusion

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Towards a unified architecture for mapping static environments

Towards a unified architecture for mapping static environmen...

引用

International conference on Information fusion

作者： Tim Kubertschak Mirko Maehlisch Hans-Joachim Wuensche AUDI AG I/EE-31 Ingolstadt Germany

sensor fusion systems are becoming more and more important in automotive applications, especially for future driver assistance systems and autonomous driving. While it was sufficient to use single sensors in early driving assistance systems, future systems will rely on several sensors with different measurement principles. The probably conflicting measurements need to be fused to retrieve a complete picture of the current surroundings. However, an increased number of sensors leads to difficulties while incorporating their measurements, since every sensor provides its data via special interfaces. This inconvenience of current sensor fusion architectures has been solved for moving objects. A fusion architecture based on a generic interface - the object list - has been developed over the last years. It allows an easy use of additional sensors as long as they provide their measurements as object lists. Similar solutions for static environments are rare, but the recent proposal of the Fences-approach [1] is promising. This work shows, how sensors and occupancy grids are represented in the Fences-architecture. Steps and algorithms are presented to transform sensor reading into Fences as well as extracting Fences from common grid-based strategies for mapping static environments. The algorithms are applied to the conversion of ultrasonic sensor readings and LiDAR measurements to Fences. Furthermore, the construction of Fences from Bayesian occupancy grids is presented.

关键词： Uncertainty sensor phenomena and characterization Vehicles sensor fusion Acoustics Robot sensing systems

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TDA2X, A SOC OPTIMIZED FOR ADVANCED DRIVER ASSISTANCE SYSTEMS

TDA2X, A SOC OPTIMIZED FOR ADVANCED DRIVER ASSISTANCE SYSTEM...

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IEEE International conference on Acoustics, Speech and Signal Processing

作者： Jagadeesh Sankaran Nikolic Zoran Texas Instruments Incorporated

ISBN: (纸本)9781479928941

关键词： advanced driver assistance systems (ADAS) ARCHITECTURE Scalability core Building construction extensible architecture Drivers system-on-chip program area sensor fusion end products development time Timing devices System performance

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Real-time tracking and fast retrieval of persons in multiple surveillance cameras of a shopping mall

Real-time tracking and fast retrieval of persons in multiple...

引用

conference on Multisensor, Multisource Information fusion - architectures, algorithms, and applications

作者： Bouma, Henri Baan, Jan Landsmeer, Sander Kruszynski, Chris van Antwerpen, Gert Dijk, Judith TNO POB 96864 NL-2509 JG The Hague Netherlands

ISBN: (纸本)9780819495471

The capability to track individuals in CCTV cameras is important for e.g. surveillance applications at large areas such as train stations, airports and shopping centers. However, it is laborious to track and trace people over multiple cameras. In this paper, we present a system for real-time tracking and fast interactive retrieval of persons in video streams from multiple static surveillance cameras. This system is demonstrated in a shopping mall, where the cameras are positioned without overlapping fields-of-view and have different lighting conditions. The results show that the system allows an operator to find the origin or destination of a person more efficiently. The misses are reduced with 37%, which is a significant improvement.

关键词： Surveillance tracking CCTV person re-identification multi-sensor fusion

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Scalable sensor management for automated fusion and tactical reconnaissance

Scalable sensor management for automated fusion and tactical...

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conference on Multisensor, Multisource Information fusion - architectures, algorithms, and applications

作者： Walls, Thomas J. Wilson, Michael L. Partridge, Darin C. Haws, Jonathan R. Jensen, Mark D. Johnson, Troy R. Petersen, Brad D. Sullivan, Stephanie W. Naval Res Lab 4555 Overlook Ave SW Washington DC 20375 USA

ISBN: (纸本)9780819495471

The capabilities of tactical intelligence, surveillance, and reconnaissance (ISR) payloads are expanding from single sensor imagers to integrated systems-of-systems architectures. Increasingly, these systems-of-systems include multiple sensing modalities that can act as force multipliers for the intelligence analyst. Currently, the separate sensing modalities operate largely independent of one another, providing a selection of operating modes but not an integrated intelligence product. We describe here a sensor Management System (SMS) designed to provide a small, compact processing unit capable of managing multiple collaborative sensor systems on-board an aircraft. Its purpose is to increase sensor cooperation and collaboration to achieve intelligent data collection and exploitation. The SMS architecture is designed to be largely sensor and data agnostic and provide flexible networked access for both data providers and data consumers. It supports pre-planned and ad-hoc missions, with provisions for on-demand tasking and updates from users connected via data links. Management of sensors and user agents takes place over standard network protocols such that any number and combination of sensors and user agents, either on the local network or connected via data link, can register with the SMS at any time during the mission. The SMS provides control over sensor data collection to handle logging and routing of data products to subscribing user agents. It also supports the addition of algorithmic data processing agents for feature/target extraction and provides for subsequent cueing from one sensor to another. The SMS architecture was designed to scale from a small UAV carrying a limited number of payloads to an aircraft carrying a large number of payloads. The SMS system is STANAG 4575 compliant as a removable memory module (RMM) and can act as a vehicle specific module (VSM) to provide STANAG 4586 compliance (level-3 interoperability) to a non-compliant sensor system. Th

关键词： multi-INT data fusion sensing modality sensor management network sensor tasking automation algorithmic processing scalable systems-of-systems

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Considerations for Multiple Hypothesis Correlation on Tactical Platforms

Considerations for Multiple Hypothesis Correlation on Tactic...

引用

conference on Multisensor, Multisource Information fusion - architectures, algorithms, and applications

作者： Thomas, Alan M. Turpen, James E. Georgia Inst Technol Georgia Tech Res Inst Atlanta GA 30318 USA

ISBN: (纸本)9780819495471

Tactical platforms benefit greatly from the fusion of tracks from multiple sources in terms of increased situation awareness. As a necessary precursor to this track fusion, track-to-track association, or correlation, must first be performed. The related measurement-to-track fusion problem has been well studied with multiple hypothesis tracking and multiple frame assignment methods showing the most success. The track-to-track problem differs from this one in that measurements themselves are not available but rather track state update reports from the measuring sensors. Multiple hypothesis, multiple frame correlation systems have previously been considered;however, their practical implementation under the constraints imposed by tactical platforms is daunting. The situation is further exacerbated by the inconvenient nature of reports from legacy sensor systems on bandwidth-limited communications networks. In this paper, consideration is given to the special difficulties encountered when attempting the correlation of tracks from legacy sensors on tactical aircraft. Those difficulties include the following: covariance information from reporting sensors is frequently absent or incomplete;system latencies can create temporal uncertainty in data;and computational processing is severely limited by hardware and architecture. Moreover, consideration is given to practical solutions for dealing with these problems in a multiple hypothesis correlator.

关键词： Data Association Multiple Hypothesis Correlation Multiple Hypothesis Tracking Avionics Information fusion sensors

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Enhancing situational awareness by means of visualization and information integration of sensor networks

Enhancing situational awareness by means of visualization an...

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conference on Multisensor, Multisource Information fusion - architectures, algorithms, and applications

作者： Timonen, J. Vankka, J. Finnish Natl Def Univ Dept Mil Technol POB 7 FI-00861 Helsinki Finland

ISBN: (纸本)9780819495471

This paper presents a solution for information integration and sharing architecture, which is able to receive data simultaneously from multiple different sensor networks. Creating a Common Operational Picture (COP) object along with the base map of the building plays a key role in the research. The object is combined with desired map sources and then shared to the mobile devices worn by soldiers in the field. The sensor networks we used focus on location techniques indoors, and a simple set of symbols is created to present the information, as an addition to NATO APP6B symbols. A core element in this research is the MUSAS (Mobile Urban Situational Awareness System), a demonstration environment that implements central functionalities. Information integration of the system is handled by the Internet Connection Engine (Ice) middleware, as well as the server, which hosts COP information and maps. The entire system is closed, such that it does not need any external service, and the information transfer with the mobile devices is organized by a tactical 5 GHz WLAN solution. The demonstration environment is implemented using only commercial off-theshelf (COTS) products. We have presented a field experiment event in which the system was able to integrate and share real time information of a blue force tracking system, received signal strength indicator (RSSI) based intrusion detection system, and a robot using simultaneous location and mapping technology (SLAM), where all the inputs were based on real activities. The event was held in a training area on urban area warfare.

关键词： Common Operational Picture information integration urban warfare wireless sensor platform Mobile Urban Area Situational Awareness System Situational Awareness

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Computationally efficient Bayesian tracking

Computationally efficient Bayesian tracking

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conference on Multisensor, Multisource Information fusion - architectures, algorithms, and applications

作者： Aughenbaugh, Jason La Cour, Brian Univ Texas Austin Appl Res Labs Austin TX 78712 USA

ISBN: (纸本)9780819490858

In this paper, we describe the progress we have achieved in developing a computationally efficient, grid-based Bayesian fusion tracking system. In our approach, the probability surface is represented by a collection of multidimensional polynomials, each computed adaptively on a grid of cells representing state space. Time evolution is performed using a hybrid particle/grid approach and knowledge of the grid structure, while sensor updates use a measurement-based sampling method with a Delaunay triangulation. We present an application of this system to the problem of tracking a submarine target using a field of active and passive sonar buoys.

关键词： Heterogeneous sensor fusion target tracking Bayesian fusion

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