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检索条件"任意字段=Sensor Fusion: Architectures, Algorithms and Applications II"

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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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An Approach for Incorporating End User Knowledge into applications of Information Extraction Classification and fusion in Institutional Eldercare

An Approach for Incorporating End User Knowledge into Applic...

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International Symposium on Parallel architectures, algorithms and Networks (ISPAN)

作者： C.-C. Hsia K. J. Liou A. P. W. Aung S. F. Foo W. Huang J. Biswas Industrial Technology Research Institute Hsinchu TW Networking Protocols Dept. Institute for Infocomm Research Singapore Computer Vision and Image Understanding Dept. Institute for Infocomm Research Singapore Networking Protocols Dept. Institute for Infocomm Research Singapore Singapore

sensor-based smart spaces have been developed to help caring of the elderly. Selection of sensors, layout of smart space, design of fusion algorithms, and knowledge of domain experts are critical to the development of a useful ICT system for caring the elderly in the institutional facilities. We apply multi-modal sensor fusion technique to improve the confidence level of our system, and leverage the knowledge of domain experts, which is stored in ontology database, to detect the sequence of events that can lead to dangerous situations.

关键词： Data mining Senior citizens Intelligent sensors sensor fusion sensor systems Algorithm design and analysis Multimodal sensors Ontologies Databases Event detection

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Parallel algorithms for m-out-of-n threshold voting

Parallel algorithms for m-out-of-n threshold voting

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IEEE International Conference on algorithms and architectures for Parallel Processing (ICAP)

作者： B. Parhami Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

Voting on large collections of input objects is becoming increasingly important in data fusion, signal and image processing, and distributed computing. To achieve high speed in voting, the multiple processing resources typically available in such applications should be utilized; hence the need for parallel voting algorithms. We develop efficient parallel algorithms for threshold voting which generalize and extend previous work on both sequential threshold voting and parallel majority voting. We show how a well-known O(n)-time sequential algorithm for m-out-of-n voting can be parallelized through 1 simple divide-and-conquer strategy. When m=/spl theta/(n), the resulting algorithm has O(log/sup 2/ n) time complexity on PRAM and hypercube computers and optimal O(n/sup 1/k/) complexity on a k-dimensional mesh-connected architecture. We also analyze the time complexity of the algorithm in the case of m=o(n) and for certain weighted threshold voting schemes.

关键词： Parallel algorithms Voting Hardware Distributed computing Application software Concurrent computing Diversity reception sensor fusion Phase change random access memory Hypercubes

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Real-time power-efficient integration of multi-sensor occupancy grid on many-core

Real-time power-efficient integration of multi-sensor occupa...

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IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO

作者： Tiana Rakotovao Julien Mottin Diego Puschini Christian Laugier INRIA Grenoble Rhone-Alpes CEA-LETI MINATEC Campus Grenoble

Safe Autonomous Vehicles (AVs) will emerge when comprehensive perception systems will be successfully integrated into vehicles. Advanced perception algorithms based on occupancy grids were developed for AV prototypes. These algorithms estimate the position and speed of every obstacle in the environment by using data fusion from multiple sensors. Computational requirements of such fusion prevent their integration into AVs on current low-power embedded hardware. However, recent emerging many-core architectures offer opportunities to fulfill the automotive market constraints and efficiently support advanced perception applications. This paper explores the integration of the occupancy grid multi-sensor fusion algorithm into low power many-core architectures. The parallel properties of this function are used to achieve realtime performance with a power consumption less than 1W. The proposed implementation produces an occupancy grid of 500×300 cells within 6.26ms. The execution time is 6x faster than typical sensor output rates and 9x faster than previous embedded prototypes.

关键词： Computational modeling Mathematical model Hardware Laser radar Real-time systems Vehicles Computer architecture

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architectures and algorithms for non-cooperative sense and avoid

Architectures and algorithms for non-cooperative sense and a...

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IEEE Metrology for Aerospace

作者： Anna Elena Tirri Giancarmine Fasano Domenico Accardo Antonio Moccia Department of Aerospace Engineering (DII) University of Naples “Federico II” Naples Italy

The paper focuses on research results relevant to non-cooperative sense and avoid based on different sensing architectures and algorithms. In particular, first a radar/electro-optical system is presented where real time data fusion is based on a central level scheme and an Extended Kalman Filter. It was validated in flight tests carried out in the framework of TECVOL project carried out by the Italian Aerospace Research Centre (CIRA) and the University of Naples “Federico ii”. In order to evaluate the impact of innovative technologies on system performance, solutions based on Particle Filtering are then introduced which have been developed and implemented in radar-only framework for off-line simulations, taking advantage from sensor data gathered in flight. Finally, algorithms relevant to vision-based sense and avoid are briefly presented, and preliminary results based on flight images in near collision scenarios are discussed.

关键词： Radar tracking Aircraft Filtering Atmospheric measurements Particle measurements Mathematical model

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RGB and LiDAR fusion based 3D Semantic Segmentation for Autonomous Driving

RGB and LiDAR fusion based 3D Semantic Segmentation for Auto...

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International Conference on Intelligent Transportation

作者： Khaled El Madawi Hazem Rashed Ahmad El Sallab Omar Nasr Hanan Kamel Senthil Yogamani Valeo R&D Cairo Egypt Cairo University Valeo Visions Systems Ireland

ISBN: (纸本)9781538670255

LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is degraded. LiDAR perception is gradually becoming mature for algorithms including object detection and SLAM. However, semantic segmentation algorithm remains to be relatively less explored. Motivated by the fact that semantic segmentation is a mature algorithm on image data, we explore sensor fusion based 3D segmentation. Our main contribution is to convert the RGB image to a polar-grid mapping representation used for LiDAR and design early and mid-level fusion architectures. Additionally, we design a hybrid fusion architecture that combines both fusion algorithms. We evaluate our algorithm on KITTI dataset which provides segmentation annotation for cars, pedestrians and cyclists. We evaluate two state-of-the-art architectures namely SqueezeSeg and PointSeg and improve the mIoU score by 10% in both cases relative to the LiDAR only baseline.

关键词： Laser radar Three-dimensional displays Semantics Image segmentation Feature extraction Computer architecture Cameras

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Multisensor fusion-Based object detection and tracking using Active Shape Model

Multisensor fusion-Based object detection and tracking using...

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2011 6th International Conference on Digital Information Management, ICDIM 2011

作者： Lee, Dongeun Choi, Sunghoon Information Technology Research Center LG CNS Co. Ltd. Seoul Korea Republic of

ISBN: (纸本)9781457715389

This paper proposes automatic target detection and tracking system using Active Shape Model (ASM). Existing model based approaches for tracking are either manually initiated or need some form of user interaction to locate the object in images. Also the low light environmental conditions for surveillance systems make the tracking further harder. Hence the proposed system makes use of multiple sensors in the form of IR and visible cameras to enable tracking in degraded and low light environments. The proposed algorithm consists of the following stages: (i) input image evaluation for obtaining the conditions under which the camera is placed, (ii) an integrated motion detector and target tracker, (iii) active shape tracker(AST) for performing tracking, (iv) update of tracking results for real time tracking of targets. In the first stage the input image is evaluated for the lighting conditions. If the lighting conditions are poor then IR sensor is integrated with the CCD sensor for tracking applications. In the second stage the motion detector and region tracker are used to provide feedback to AST for automatic initialization of tracking. Tracking is carried out in the third stage using ASM. The final stage extracts the parameters and tracking information and applies it to the next frame if the tracking is carried out in real time. The major contribution this work lies in the integration for a completed system, which covers from image processing to tracking algorithms. The approach of combining multiple algorithms succeeds in overcoming fundamental limitations of tracking and at the same time realizes real time implementation. Experimental results show that the proposed algorithm can track people under various environment in real-time. The proposed system has potential uses in the area of surveillance, shape analysis, and model-based coding. © 2011 IEEE.

关键词： Target tracking

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Multi-sensor information fusion technology: principle, applications and key technologies explorations

Multi-sensor information fusion technology: principle, appli...

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2nd International Conference on Mechatronic Automation and Electrical Engineering (ICMAEE 2024)

作者： Wenchen Wu Ruizhe Xu Guangdong Country Garden School Foshan 528312 People's Republic of China The Affiliated Middle School of Fujian Normal University Fuzhou 350007 People's Republic of China

ISBN: (数字)9781837242672

Multi-sensor information fusion (MSIF) has emerged as a critical technology in various fields due to the growing complexity of systems and the demand for precise information. This paper explores the fundamental principles, key technologies, and potential applications of MSIF. The paper delves into the design and implementation of MSIF systems, discussing various system architectures such as centralized, distributed, and hybrid models. Key technologies crucial to MSIF, including sensor calibration, data association, filtering methods, and fusion algorithms like Bayesian Criterion, Dempster-Shafer Evidence Theory, Fuzzy Theory, and Neural Networks, are thoroughly examined. The study highlights the importance of data preprocessing and feature extraction techniques in achieving efficient data fusion. Furthermore, the potential of MSIF in diagnosing complex systems is demonstrated through applications in industrial automation, environmental monitoring, and healthcare. MSIF also faces challenges related to data synchronization, algorithm complexity, and the integration of diverse data sources. With ongoing advancements in sensor technology and data processing, MSIF is poised to play an increasingly significant role in intelligent systems, including autonomous vehicles and smart cities.

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Centralized fusion for fast people detection in dense environment

Centralized fusion for fast people detection in dense enviro...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Gwennael Gate Amaury Breheret Fawzi Nashashibi Robotics Laboratory Mines Paris-Tech Paris France Robotics Laboratory Mines ParisTech and INRIA-IMARA team Le Chesnay France

Human beings do not have well defined shapes neither well defined behaviors. In dense outdoor environments, they are as a consequence hard to detect and algorithms based on a single sensor tend to produce lot of wrong detections. Moreover, many applications require algorithms that work very fast on CPU limited mobile architectures while remaining able to detect, track and classify objects as people with a very high precision. We present an algorithm based on the contribution of a range finder and a vision based algorithm that addresses these three constraints: efficiency, velocity and robustness and that we believe is scalable to a large variety of applications.

关键词： Shape Robustness Cameras Humans Laser fusion Detection algorithms Robots Target tracking Recursive estimation Bayesian methods

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Verifying RADAR Data Using Two-Dimensional QIM-based Data Hiding

Verifying RADAR Data Using Two-Dimensional QIM-based Data Hi...

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作者： Fedoruk, Brandonlib. University of Michigan

Modern vehicles have evolved into supporting advanced internal networks and connecting System Based Chips (SBC), System in a Package (SiP) solutions or traditional micro controllers to foster an electronic ecosystem for high speed data transfers, precision and real-time control. The use of Controller Area Networks (CAN) is widely adopted as the backbone of internal vehicle communication infrastructure. Automotive applications such as ADAS, autonomous driving, battery management systems, power train systems, telematics and infotainment, all utilize CAN transmissions directly or through gateway management. The network transmissions lack robust integrity verification mechanisms to validate authentic data payloads, making it vulnerable to packet replay, spoofing, insertion, deletion and denial of service attacks. Additional methods exist to secure network data such as traditional cryptography. Utilizing this method will increase the computational complexity, processing latency and increase overall system cost. This thesis proposes a robust, light and adaptive solution to validate the authenticity of automotive sensor data using CAN network protocol. We propose using a two-dimensional Quantization Index Modulation (QIM) data hiding technique, to create a means of verification. Analysis of the proposed framework will be conducted in a sensor transmission scenario for RADAR sensors in an autonomous vehicle setting. The detection and effects of distortion on the application are tested through the implementation of sensor fusion algorithms and the results are observed and analyzed. The proposed framework offers a needed capability to maintain transmission integrity without the compromise of data quality and low design complexity. This framework could also be applied to different network architectures, as well as its operational scope could be modified to operate with more abstract types of data.

关键词： sensor networks RADAR Data integrity Data security ADAS Digital watermarking Connected vehicle Thesis

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