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International Conference on Intelligent Transportation

作者： Ziming Guo Baigen Cai Wei Jiang Martin Lauer School of Electronic and Information Engineering Beijing Jiaotong University Beijing China Institute of Measurement and Control Systems Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9781538670255

Train-borne localization plays an important role in future railway applications which require quick track-selective positioning. In this paper, a branching direction detection approach based on frog and blade is presented to address the ambiguity of which track is chosen when a turnout is passed. The reference positions (i.e. the tip of the blade and the tip of the frog) on turnouts are detected as well. Since track detection is the prerequisite, rail and track sections are extracted using an onboard LiDAR sensor considering features related to the rail profile and the longitudinal geometry. The relative position between the ego track and branching tracks are considered as track events, from which the branching directions are derived. The approach is evaluated with datasets collected in a railway test ground. The results demonstrate that the branching directions are detected accurately with a recall of 97.6% and a precision of 98.8%. Moreover, the proposed approach makes determination of the branching direction 22.4m and 16.4m earlier than the frog- or blade- based one does in facing and trailing directions respectively.

关键词： Rails Laser radar Blades Rail transportation measurement by laser beam Feature extraction Image edge detection

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Realtime 3D Object Detection for Automated Driving Using Stereo Vision and Semantic Information

Realtime 3D Object Detection for Automated Driving Using Ste...

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International Conference on Intelligent Transportation

作者： Hendrik Königshof Niels Ole Salscheider Christoph Stiller FZI Research Center for Information Technology Intelligent Systems and Production Engineering Karlsruhe Germany Institute of Measurement and Control Systems Karlsruhe Institute of Technology (KIT) Karlsruhe Germany

ISBN: (纸本)9781538670255

We propose a 3D object detection and pose estimation method for automated driving using stereo images. In contrast to existing stereo-based approaches, we focus not only on cars, but on all types of road users and can ensure real-time capability through GPU implementation of the entire processing chain. These are essential conditions to exploit an algorithm for highly automated driving. Semantic information is provided by a deep convolutional neural network and used together with disparity and geometric constraints to recover accurate 3D bounding boxes. Experiments on the challenging KITTI 3D object detection benchmark show results that are within the range of the best image-based algorithms, while the runtime is only about a fifth. This makes our algorithm the first real-time image-based approach on KITTI.

关键词： Three-dimensional displays Object detection Semantics Laser radar Proposals Two dimensional displays Estimation

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Outage behaviors of NOMA-based satellite network over shadowed-rician fading channels

arXiv

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arXiv 2020年

作者： Yue, Xinwei Liu, Yuanwei Yao, Yuanyuan Li, Tian Li, Xuehua Liu, Rongke Nallanathan, Arumugam Key Laboratory of Modern Measurement & Control Technology Ministry of Education School of Information and Communication Engineering Beijing Information Science and Technology University Beijing100101 China School of Electronic Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom 54th Research Institute of China Electronics Technology Group Corporation Shijiazhuang Hebei050081 China Beijing University of Posts and Telecommunications Beijing100876 China School of Electronic and Information Engineering Beihang University Beijing100191 China

This paper investigates the application of non-orthogonal multiple access (NOMA) to satellite communication network over Shadowed-Rician fading channels. The impact of imperfect successive interference cancellation (ipSIC) on NOMA-based satellite network is taken into consideration from the perspective of practical scenarios. We first derive new exact expressions of outage probability for the p-th terrestrial user and provide the corresponding asymptotic analysis results. The diversity order of zero and p are achieved by the p-th terrestrial user with ipSIC and perfect successive interference cancellation (pSIC), respectively. Finally, the presented simulation results show that: 1) On the condition of pSIC, the outage behaviors of NOMA-based satellite network are superior to that of orthogonal multiple access;2) With the value of residual interference increasing, the outage performance of terrestrial users with ipSIC is becoming worse seriously;and 3) Infrequent light shadowing of Shadowed-Rician fading brings the better outage probability compared to frequent heavy and average shadowing. Copyright © 2020, The Authors. All rights reserved.

关键词： Asymptotic analysis

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Towards Responsibility-Sensitive Safety of Automated Vehicles with Reachable Set Analysis

Towards Responsibility-Sensitive Safety of Automated Vehicle...

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International Conference on Connected Vehicles and Expo (ICCVE)

作者： Piotr F. Orzechowski Kun Li Martin Lauer Intelligent Systems and Production Engineering FZI Research Center for Information Technology Karlsruhe Germany Institute of Measurement and Control Systems Karlsruhe Institute of Technology (KIT) Karlsruhe Germany

ISBN: (纸本)9781728101439

One of the most critical, unsolved challenges for the introduction of automated vehicles is safety verification of planned trajectories. The most promising concepts approaching this topic are worst-case occupancy predictions based on reachable set analysis and the definition of Responsibility-Sensitive Safety (RSS) that formalizes dangerous situations and proper responses. Worst-case predictions result in over-conservative behavior while the RSS approach makes strong assumptions w.r.t. lateral and longitudinal behavior. Our contribution is a first step in bringing both worlds together, to benefit from respective advantages. First, we define RSS-motivated safe-states for merge and crossing scenarios, that ensure absolute safety towards leading vehicles, appropriate time gaps towards following vehicles in merging lanes and minimum clearance time of conflict zones with crossing lanes. We then show how to integrate these safety constraints in a trajectory and behavior planner using reachable sets and finally illustrate its usefulness in various simulative evaluations.

关键词： ADAS Automated vehicles Formal verification Reachability analysis Risk assessment Responsibility-Sensitive safety Automated vehicles reachability analysis Formal verification advanced driver assistance systems (ADAS) Risk Assessment Risk Management Safety Verification Consumer safety safety

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Automatic Generation of Training Data for Image Classification of Road Scenes

Automatic Generation of Training Data for Image Classificati...

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International Conference on Intelligent Transportation

作者： Tilman Kühner Sascha Wirges Martin Lauer Intelligent Systems and Production Engineering FZI Research Center for Information Technology Karlsruhe Germany Institute for Measurement and Control Systems Karlsruhe Institute of Technology (KIT) Karlsruhe Germany

ISBN: (纸本)9781538670255

There is an ever increasing demand for semantically annotated images to train and evaluate image classifiers. Currently this data is obtained by manually labeling each individual image thus making the process labor intensive and costly. We therefore present an approach that generates semantically annotated images for classes road and curb in a fully automatic way. The advantage of our method is that it relies on cues from range sensors only thus making its output suitable for training and evaluating image classifiers. We use a normal based curb detector and extract the road by running an active contour on these detections. Since our algorithm does not rely on parametric models it is possible to detect a wide range of road geometries in different environments. Sequences of up to a minute can be accurately labeled without any user interference in less than a minute.

关键词： Roads Three-dimensional displays Laser radar Sensors Image segmentation Motion segmentation Optimization

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MCU-based isolated appealing words detecting method with AI techniques 1st

MCU-based isolated appealing words detecting method with AI ...

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1st EAI International Conference on Artificial Intelligence for communications and Networks, AICON 2019

作者： Ye, Liang Li, Yue Dong, Wenjing Seppänen, Tapio Alasaarela, Esko Department of Information and Communication Engineering Harbin Institute of Technology Harbin150080 China Health and Wellness Measurement Research Group OPEM Unit University of Oulu Oulu90014 Finland Key Laboratory of Police Wireless Digital Communication Ministry of Public Security Harbin150080 China Electrical Engineering School Heilongjiang University Harbin150080 China Physiological Signal Analysis Team University of Oulu Oulu90014 Finland

ISBN: (纸本)9783030229702

Bullying in campus has attracted more and more attention in recent years. By analyzing typical campus bullying events, it can be found that the victims often use the words "help" and some other appealing or begging words, that is to say, by using the artificial intelligence of speech recognition, we can find the occurrence of campus bullying events in time, and take measures to avoid further harm. The main purpose of this study is to help the guardians discover the occurrence of campus bullying in time by real-time monitoring of the keywords of campus bullying, and take corresponding measures in the first time to minimize the harm of campus bullying. On the basis of Sunplus MCU and speech recognition technology, by using the MFCC acoustic features and an efficient DTW classifier, we were able to realize the detection of common vocabulary of campus bullying for the specific human voice. After repeated experiments, and finally combining the voice signal processing functions of Sunplus MCU, the recognition procedure of specific isolated words was completed. On the basis of realizing the isolated word detection of specific human voice, we got an average accuracy of 99% of appealing words for the dedicated speaker and the misrecognition rate of other words and other speakers was very low. © ICST institute for Computer Sciences, Social Informatics and Telecommunications engineering 2019 Published by Springer Nature Switzerland AG 2019. All Rights Reserved.

关键词： Speech recognition

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Optical polarization imaging for underwater target detection with non-scatter background

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Journal of measurement Science and Instrumentation 2020年第4期11卷 335-342页

作者： GUAN Jin-ge ZHAO Yong ZHENG Yong-qiu MA Miao SUN Peng XUE Chen-yang School of Information and Communication Engineering North University of ChinaTaiyuan 030051China Beijing Institute of Computer Application Technology China North Industries Group Corporation LimitedBeijing 100089China Key Laboratory of Instrumentation Science and Dynamic Measurement(North University of China) Ministry of EducationTaiyuan 030051China Department of Science Taiyuan Institute of TechnologyTaiyuan 030008China

For conventional optical polarization imaging of underwater target,the polarization degree of backscatter should be pre-measured by averaging the pixel intensities in the no target region of the polarization images,and the polarization property of the target is assumed to be completely *** the scattering background is unseen in the field of view or the target is polarized,conventional method is helpless in detecting the *** improvement is to use lots of co-polarization and cross polarization detection *** propose a polarization subtraction method to estimate depolarization property of the scattering noise and target *** experiment in a quartz cuvette container is performed to demonstrate the effectiveness of the proposed *** results show that the proposed method can work without scattering background reference,and further recover the target along with smooth surface for polarization preserving *** study promotes the development of optical polarization imaging systems in underwater environments.

关键词： polarization imaging underwater optical scattering optical information processing target detection

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Distributed Adaptive Observer for Discrete-Time LTI SISO System with Completely Unknown Periodic Input

Distributed Adaptive Observer for Discrete-Time LTI SISO Sys...

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第三十八届中国控制会议

作者： Yaoyao Wen Donghua Chen Ya Zhang School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Architecture Engineering Nanjing Institute of Technology

This paper focuses on designing a distributed observer for multiple sensors to estimate the input and state of a linear-time-invariant(LTI) single-input-single-output(SISO) discrete-time system with completely unknown periodic input. A consensus based adaptive observer to estimate the unknown input. The observer assumes the form of an adaptive finite impulse response(FIR) filter, which requires the agent to get the model and output of the target. In this paper, an adaptive distributed estimation algorithm is designed for some agents that cannot get the target model and output to estimate the target state, output and unknown input simply by relying on the information of its neighbors. Experimental results are provided to further verify and testify the effectiveness of the algorithm.

关键词： distributed estimation adaptive FIR unknown input sensor network

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Robust Design of Transmit/Receive Beamforming for Multiple-input Multiple-output Radar

Robust Design of Transmit/Receive Beamforming for Multiple-i...

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2019 IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2019

作者： Qian, Junhui Luo, Yu Fu, Ning Liu, Ran Feng, Zeyu School of Microelectronic and Communication Engineering Chongqing University Chongqing China Harbin Institute of Technology Department of Automatic Test and Control Harbin China College of Computer Science Chongqing University Chongqing China Chengdu Surveying Geotechnical Research Institute Co. Ltd. of MCC Chengdu China

ISBN: (纸本)9781728123455

The transmit/receive robust adaptive beamformer design of a multiple-input multiple-output (MIMO) radar system is studied in this paper. We first construct the interference covariance matrix via a shrink-based approach. Then, the desired transmit-receive steering vector (SV) is estimated through maximizing the output power upon the cooperative constraint and norm constraints under the presumed SV. An iterative procedure is designed to deal with the original nonconvex problem, whose convergence is analytically proven with the estimated SV. Simulation results show the merits of the proposed design in various scenarios. © 2019 IEEE.

关键词： MIMO radar

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Face hallucination with finishing touches

arXiv

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arXiv 2020年

作者： Zhang, Yang Tsang, Ivor W. Li, Jun Liu, Ping Lu, Xiaobo Yu, Xin The School of Automation Southeast University Nanjing210096 China The Australian Artificial Intelligence Institute University of Technology Sydney UltimoNSW2007 Australia The Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Singapore138634 Singapore The Research School of Engineering Australian National University Canberra Australia

Obtaining a high-quality frontal face image from a low-resolution (LR) non-frontal face image is primarily important for many facial analysis applications. However, mainstreams either focus on super-resolving near-frontal LR faces or frontalizing non-frontal high-resolution (HR) faces. It is desirable to perform both tasks seamlessly for daily-life unconstrained face images. In this paper, we present a novel Vivid Face Hallucination Generative Adversarial Network (VividGAN) for simultaneously super-resolving and frontalizing tiny non-frontal face images. VividGAN consists of coarse-level and fine-level Face Hallucination Networks (FHnet) and two discriminators, i.e., Coarse-D and Fine-D. The coarse-level FHnet generates a frontal coarse HR face and then the fine-level FHnet makes use of the facial component appearance prior, i.e., fine-grained facial components, to attain a frontal HR face image with authentic details. In the fine-level FHnet, we also design a facial component-aware module that adopts the facial geometry guidance as clues to accurately align and merge the frontal coarse HR face and prior information. Meanwhile, two-level discriminators are designed to capture both the global outline of a face image as well as detailed facial characteristics. The Coarse-D enforces the coarsely hallucinated faces to be upright and complete while the Fine-D focuses on the fine hallucinated ones for sharper details. Extensive experiments demonstrate that our VividGAN achieves photo-realistic frontal HR faces, reaching superior performance in downstream tasks, i.e., face recognition and expression classification, compared with other state-of-the-art methods. Copyright © 2020, The Authors. All rights reserved.

关键词： Generative adversarial networks

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