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Measurement of the tt¯ production cross section in the τ+jets final state in pp collisions at s=8 TeV using the ATLAS detector

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Physical Review D 2017年第7期95卷 072003-072003页

作者： M. Aaboud G. Aad B. Abbott J. Abdallah O. Abdinov B. Abeloos O. S. AbouZeid N. L. Abraham H. Abramowicz H. Abreu R. Abreu Y. Abulaiti B. S. Acharya S. Adachi L. Adamczyk D. L. Adams J. Adelman S. Adomeit T. Adye A. A. Affolder T. Agatonovic-Jovin J. A. Aguilar-Saavedra S. P. Ahlen F. Ahmadov G. Aielli H. Akerstedt T. P. A. Åkesson A. V. Akimov G. L. Alberghi J. Albert S. Albrand M. J. Alconada Verzini M. Aleksa I. N. Aleksandrov C. Alexa G. Alexander T. Alexopoulos M. Alhroob B. Ali M. Aliev G. Alimonti J. Alison S. P. Alkire B. M. M. Allbrooke B. W. Allen P. P. Allport A. Aloisio A. Alonso F. Alonso C. Alpigiani A. A. Alshehri M. Alstaty B. Alvarez Gonzalez D. Álvarez Piqueras M. G. Alviggi B. T. Amadio Y. Amaral Coutinho C. Amelung D. Amidei S. P. Amor Dos Santos A. Amorim S. Amoroso G. Amundsen C. Anastopoulos L. S. Ancu N. Andari T. Andeen C. F. Anders J. K. Anders K. J. Anderson A. Andreazza V. Andrei S. Angelidakis I. Angelozzi A. Angerami F. Anghinolfi A. V. Anisenkov N. Anjos A. Annovi C. Antel M. Antonelli A. Antonov D. J. Antrim F. Anulli M. Aoki L. Aperio Bella G. Arabidze Y. Arai J. P. Araque A. T. H. Arce F. A. Arduh J-F. Arguin S. Argyropoulos M. Arik A. J. Armbruster L. J. Armitage O. Arnaez H. Arnold M. Arratia O. Arslan A. Artamonov G. Artoni S. Artz S. Asai N. Asbah A. Ashkenazi B. Åsman L. Asquith K. Assamagan R. Astalos M. Atkinson N. B. Atlay K. Augsten G. Avolio B. Axen M. K. Ayoub G. Azuelos M. A. Baak A. E. Baas M. J. Baca H. Bachacou K. Bachas M. Backes M. Backhaus P. Bagiacchi P. Bagnaia Y. Bai J. T. Baines M. Bajic O. K. Baker E. M. Baldin P. Balek T. Balestri F. Balli W. K. Balunas E. Banas Sw. Banerjee A. A. E. Bannoura L. Barak E. L. Barberio D. Barberis M. Barbero T. Barillari M-S Barisits T. Barklow N. Barlow S. L. Barnes B. M. Barnett R. M. Barnett Z. Barnovska-Blenessy A. Baroncelli G. Barone A. J. Barr L. Barranco Navarro F. Barreiro J. Barreiro Guimarães da Costa R. Bartoldus A. E. Barton P. Bartos A. Basalaev A. Bassalat R. L. Bates S. J. Batista J. R. Batley M. Battaglia M. B Faculté des Sciences Université Mohamed Premier and LPTPM Oujda Morocco CPPM Aix-Marseille Université and CNRS/IN2P3 Marseille France Homer L. Dodge Department of Physics and Astronomy University of Oklahoma Norman Oklahoma USA Department of Physics The University of Texas at Arlington Arlington Texas USA Institute of Physics Azerbaijan Academy of Sciences Baku Azerbaijan LAL Univ. Paris-Sud CNRS/IN2P3 Université Paris-Saclay Orsay France Santa Cruz Institute for Particle Physics University of California Santa Cruz Santa Cruz California USA Department of Physics and Astronomy University of Sussex Brighton United Kingdom Raymond and Beverly Sackler School of Physics and Astronomy Tel Aviv University Tel Aviv Israel Department of Physics Technion: Israel Institute of Technology Haifa Israel Center for High Energy Physics University of Oregon Eugene Oregon USA Department of Physics Stockholm University Sweden The Oskar Klein Centre Stockholm Sweden INFN Gruppo Collegato di Udine Sezione di Trieste Udine Italy ICTP Trieste Italy International Center for Elementary Particle Physics and Department of Physics The University of Tokyo Tokyo Japan AGH University of Science and Technology Faculty of Physics and Applied Computer Science Krakow Poland Physics Department Brookhaven National Laboratory Upton New York USA Department of Physics Northern Illinois University DeKalb Illinois USA Fakultät für Physik Ludwig-Maximilians-Universität München München Germany Particle Physics Department Rutherford Appleton Laboratory Didcot United Kingdom Institute of Physics University of Belgrade Belgrade Serbia Laboratório de Instrumentação e Física Experimental de Partículas - LIP Lisboa Portugal Departamento de Fisica Teorica y del Cosmos and CAFPE Universidad de Granada Granada (Spain) Portugal Department of Physics Boston University Boston Massachusetts USA Joint Institute for Nuclear Research JINR Dubna Dubna Russia INFN Sezione di Roma Tor Vergata Italy D

A measurement of the inclusive pp→tt¯+X production cross section in the τ+jets final state using only the hadronic decays of the τ lepton is presented. The measurement is performed using 20.2 fb−1 of proton-proton collision data recorded at a center-of-mass energy of s=8 TeV with the ATLAS detector at the Large Hadron Collider. The cross section is measured via a counting experiment by imposing a set of selection criteria on the identification and kinematic variables of the reconstructed particles and jets, and on event kinematic variables and characteristics. The production cross section is measured to be σtt¯=239±29 pb, which is in agreement with the measurements in other final states and the theoretical predictions at this center-of-mass energy.

关键词： Particle interactions Top quark

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Finite Time Distance-based Rigid Formation Stabilization and Flocking

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IFAC Proceedings Volumes 2014年第3期47卷 9183-9189页

作者： Z. Sun S. Mou M. Deghat B.D.O. Anderson A.S. Morse Shandong Computer Science Center (SCSC) Jinan China National ICT Australia and Research School of Engineering The Australian National University Canberra ACT 0200 Australia Department of Electrical Engineering Yale University New Haven CT USA

Most of the existing results on distributed distance-based rigid formation control establish asymptotic and often exponentially asymptotic convergence. To further improve the convergence rate, we explain in this paper how to modify existing controllers to obtain finite time stability. For point agents modeled by single integrators, the controllers proposed in this paper drive the whole formation to converge to a desired shape with finite settling time. For agents modeled by double integrators, the proposed controllers allow all agents to both achieve the same velocity and reach a desired shape in finite time. All controllers are totally distributed. Simulations are also provided to validate the proposed control.

关键词： Formation control finite time stability graph rigidity flocking

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A clustering based multiobjective evolutionary algorithm

A clustering based multiobjective evolutionary algorithm

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Congress on Evolutionary Computation

作者： Hu Zhang Shenmin Song Aimin Zhou Xiao-Zhi Gao Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China Department of Computer Science and Technology East China Normal University Shanghai China Department of Electrical Engineering and Automation School of Electrical Engineering Aalto Finland

In this paper, we propose a clustering based multiobjective evolutionary algorithm (CLUMOEA) to deal with the multiobjective optimization problems with irregular Pareto front shapes. CLUMOEA uses a k-means clustering method to discover the population structure by partitioning the solutions into several clusters, and it only allows the solutions in the same cluster to do the reproduction. To reduce the computational cost and balance the exploration and exploitation, the clustering process and evolutionary process are integrated together and they are performed simultaneously. In addition to the clustering, CLUMOEA also uses a distance tournament selection to choose the more similar mating solutions to accelerate the convergence. Besides, a cosine nondominated selection method considering the location and distance information of the solutions are further presented to construct the final population with good diversity. The experimental results show that, compared with some state-of-the-art algorithms, CLUMOEA has significant advantages on dealing with the given test problems with irregular Pareto front shapes.

关键词： Sociology Statistics Shape Convergence Vectors Evolutionary computation Optimization

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ℋ− adaptive observer design and parameter identification for a class of nonlinear fractional-order systems

ℋ− adaptive observer design and parameter identification f...

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IEEE Conference on Decision and control

作者： Ibrahima N'Doye Holger Voos Taous-Meriem Laleg-Kirati Mohamed Darouach Computer Electrical and Mathematical Sciences and Engineering Division (CEMSE) King Abdullah University of Science and Technology(KAUST) Interdisciplinary Centre for Security Reliability and Trust (SnT) Luxembourg University of Lorraine Research Center for Automatic Control of Nancy (CRAN UMR 7039 CNRS) Cosnes et Romain France

In this paper, an adaptive observer design with parameter identification for a nonlinear system with external perturbations and unknown parameters is proposed. The states of the nonlinear system are estimated by a nonlinear observer and the unknown parameters are also adapted to their values. Sufficient conditions for the stability of the adaptive observer error dynamics are derived in terms of linear matrix inequalities. Simulation results for chaotic Lorenz systems with unknown parameters in the presence of external perturbations are given to illustrate the effectiveness of our proposed approach.

关键词： Observers Equations Chaos Vectors Adaptive systems Linear matrix inequalities

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Sensitive detection of CO based on tunable multi-mode diode laser absorption spectroscopy

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Guangdianzi Jiguang/Journal of Optoelectronics Laser 2014年第4期25卷 718-723页

作者： Gao, Guang-Zhen Chen, Bao-Xue Hu, Bo Jia, Tian-Jun Yi, Hou-Hui School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology Shanghai 200093 China Department of Physics and Electronics Science Institute for Theoretical Physics Binzhou University Binzhou 256603 China Engineering Research Center of Optical Instrument and System Shanghai Key Lab of Modern Optical System University of Shanghai for Science and Technology Shanghai 200093 China

A multi-mode laser absorption spectroscopy system with high detection sensitivity and high stability is built using an F-P multi-mode diode laser near 1570 nm as the light source. In order to improve the detection limit of the system, a discrete lens-type multi-pass cell with path length of 100 m is employed as the measurement absorption cell. The multi-mode diode laser correlation spectroscopy, wavelength modulation technology and long-path absorption spectroscopy are combined to improve the performance of the system. In the experiment, the laser beam is spitted into two parts, which pass through the reference cell and measurement cell, respectively. The measuring light and the reference light signals are detected simultaneously. The performance of the system is validated by measuring the concentration of carbon monoxide (CO). The CO concentrations are derived from the relationship between the normalized WMS-2f signal peak heights of the measurement and reference signals which are selected based on high signal to noise ratio and correlation coefficient. The calculation results show that there is a highly linear relationship between the measured and actual CO concentrations, and the linearity is 0.9995 over the whole tested range. A detection limit of 37.3 ppm is achieved. The standard deviation of 0.839% is obtained using 30 successive measurements with each measurement time of ~10 s during 30 min, which demonstrates the good stability of the system.

关键词： Semiconductor lasers

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ZZ→ℓ+ℓ−ℓ′+ℓ′− cross-section measurements and search for anomalous triple gauge couplings in 13 TeV pp collisions with the ATLAS detector

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Physical Review D 2018年第3期97卷 032005-032005页

作者： M. Aaboud G. Aad B. Abbott O. Abdinov B. Abeloos S. H. Abidi O. S. AbouZeid N. L. Abraham H. Abramowicz H. Abreu R. Abreu Y. Abulaiti B. S. Acharya S. Adachi L. Adamczyk J. Adelman M. Adersberger T. Adye A. A. Affolder Y. Afik T. Agatonovic-Jovin C. Agheorghiesei J. A. Aguilar-Saavedra S. P. Ahlen F. Ahmadov G. Aielli S. Akatsuka H. Akerstedt T. P. A. Åkesson E. Akilli A. V. Akimov G. L. Alberghi J. Albert P. Albicocco M. J. Alconada Verzini S. C. Alderweireldt M. Aleksa I. N. Aleksandrov C. Alexa G. Alexander T. Alexopoulos M. Alhroob B. Ali M. Aliev G. Alimonti J. Alison S. P. Alkire B. M. M. Allbrooke B. W. Allen P. P. Allport A. Aloisio A. Alonso F. Alonso C. Alpigiani A. A. Alshehri M. I. Alstaty B. Alvarez Gonzalez D. Álvarez Piqueras M. G. Alviggi B. T. Amadio Y. Amaral Coutinho C. Amelung D. Amidei S. P. Amor Dos Santos S. Amoroso G. Amundsen C. Anastopoulos L. S. Ancu N. Andari T. Andeen C. F. Anders J. K. Anders K. J. Anderson A. Andreazza V. Andrei S. Angelidakis I. Angelozzi A. Angerami A. V. Anisenkov N. Anjos A. Annovi C. Antel M. Antonelli A. Antonov D. J. Antrim F. Anulli M. Aoki L. Aperio Bella G. Arabidze Y. Arai J. P. Araque V. Araujo Ferraz A. T. H. Arce R. E. Ardell F. A. Arduh J-F. Arguin S. Argyropoulos M. Arik A. J. Armbruster L. J. Armitage O. Arnaez H. Arnold M. Arratia O. Arslan A. Artamonov G. Artoni S. Artz S. Asai N. Asbah A. Ashkenazi L. Asquith K. Assamagan R. Astalos M. Atkinson N. B. Atlay K. Augsten G. Avolio B. Axen M. K. Ayoub G. Azuelos A. E. Baas M. J. Baca H. Bachacou K. Bachas M. Backes P. Bagnaia M. Bahmani H. Bahrasemani J. T. Baines M. Bajic O. K. Baker E. M. Baldin P. Balek F. Balli W. K. Balunas E. Banas A. Bandyopadhyay Sw. Banerjee A. A. E. Bannoura L. Barak E. L. Barberio D. Barberis M. Barbero T. Barillari M-S Barisits J. T. Barkeloo T. Barklow N. Barlow S. L. Barnes B. M. Barnett R. M. Barnett Z. Barnovska-Blenessy A. Baroncelli G. Barone A. J. Barr L. Barranco Navarro F. Barreiro J. Barreiro Guimarães da Costa R. Bartoldus A. E. Barton P. Bartos A. Basalaev A. B Faculté des Sciences Université Mohamed Premier and LPTPM Oujda Morocco CPPM Aix-Marseille Université and CNRS/IN2P3 Marseille France Homer L. Dodge Department of Physics and Astronomy University of Oklahoma Norman Oklahoma USA Institute of Physics Azerbaijan Academy of Sciences Baku Azerbaijan LAL Univ. Paris-Sud CNRS/IN2P3 Université Paris-Saclay Orsay France Department of Physics University of Toronto Toronto Ontario Canada Santa Cruz Institute for Particle Physics University of California Santa Cruz Santa Cruz California USA Department of Physics and Astronomy University of Sussex Brighton United Kingdom Raymond and Beverly Sackler School of Physics and Astronomy Tel Aviv University Tel Aviv Israel Department of Physics Technion: Israel Institute of Technology Haifa Israel Center for High Energy Physics University of Oregon Eugene Oregon USA Department of Physics Stockholm University Sweden The Oskar Klein Centre Stockholm Sweden INFN Gruppo Collegato di Udine Sezione di Trieste Udine Italy ICTP Trieste Italy International Center for Elementary Particle Physics and Department of Physics The University of Tokyo Tokyo Japan AGH University of Science and Technology Faculty of Physics and Applied Computer Science Krakow Poland Department of Physics Northern Illinois University DeKalb Illinois USA Fakultät für Physik Ludwig-Maximilians-Universität München München Germany Particle Physics Department Rutherford Appleton Laboratory Didcot United Kingdom Institute of Physics University of Belgrade Belgrade Serbia Department of Physics Alexandru Ioan Cuza University of Iasi Iasi Romania Laboratório de Instrumentação e Física Experimental de Partículas - LIP Lisboa Portugal Departamento de Fisica Teorica y del Cosmos Universidad de Granada Granada Portugal Department of Physics Boston University Boston Massachusetts USA Joint Institute for Nuclear Research JINR Dubna Dubna Russia INFN Sezione di Roma Tor Vergata Italy Dipartimento di Fisica Un

Measurements of ZZ production in the ℓ+ℓ−ℓ′+ℓ′− channel in proton–proton collisions at 13 TeV center-of-mass energy at the Large Hadron Collider are presented. The data correspond to 36.1 fb−1 of collisions collected by the ATLAS experiment in 2015 and 2016. Here ℓ and ℓ′ stand for electrons or muons. Integrated and differential ZZ→ℓ+ℓ−ℓ′+ℓ′− cross sections with Z→ℓ+ℓ− candidate masses in the range of 66 GeV to 116 GeV are measured in a fiducial phase space corresponding to the detector acceptance and corrected for detector effects. The differential cross sections are presented in bins of twenty observables, including several that describe the jet activity. The integrated cross section is also extrapolated to a total phase space and to all standard model decays of Z bosons with mass between 66 GeV and 116 GeV, resulting in a value of 17.3±0.9[±0.6(stat)±0.5(syst)±0.6(lumi)] pb. The measurements are found to be in good agreement with the standard model. A search for neutral triple gauge couplings is performed using the transverse momentum distribution of the leading Z boson candidate. No evidence for such couplings is found and exclusion limits are set on their parameters.

关键词： Electroweak interaction W & Z bosons Particle data analysis

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A Performance Study of Spatial Modulation Systems Under Vehicle-to-Vehicle Channel Models

A Performance Study of Spatial Modulation Systems Under Vehi...

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IEEE Vehicular Technology Conference

作者： Yu Fu Cheng-Xiang Wang Raed Mesleh Xiang Cheng Harald Haas Yejun He Joint Research Institute for Signal and Image Processing Heriot-Watt University School of Information Science and Engineering Shandong University Electrical Engineering Department and SNCS Research Center University of Tabuk School of Electronics Engineering & Computer Science Peking University Joint Research Institute for Signal and Image Processing University of Edinburgh College of Information Engineering Shenzhen University

ISBN: (纸本)9781479944811

Spatial modulation (SM) is a relatively new multiple-input multiple-output (MIMO) technology that can provide high data rate with reasonable spectral efficiency. In this paper, the bit error rate (BER) performance of SM systems under vehicle-to-vehicle (V2V) channel models is investigated. The theoretical BER expression is given. The impact of some V2V channel model parameters on the underlying space-time correlation function (STCF) and the BER performance of SM systems are also studied. Simulation results indicate that modulation schemes, maximum Doppler frequency, the distance between the transmitter (Tx) and receiver (Rx), and antenna element spacings can affect the performance of SM systems.

关键词： Spatial modulation Vehicle-to-vehicle channel model Bit error rate Space-time correlation function

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Erratum to: Methods for evaluating medical tests and biomarkers

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Diagnostic and prognostic research 2017年第1期1卷 11页

作者： Gowri Gopalakrishna Miranda Langendam Rob Scholten Patrick Bossuyt Mariska Leeflang Anna Noel-Storr James Thomas Iain Marshall Byron Wallace Penny Whiting Clare Davenport Gowri GopalaKrishna Isabel de Salis Sue Mallett Robert Wolff Richard Riley Marie Westwood Jos Kleinen Gary Collins Hans Reitsma Karel Moons Antonia Zapf Annika Hoyer Katharina Kramer Oliver Kuss J Ensor J J Deeks E C Martin R D Riley Gerta Rücker Susanne Steinhauser Martin Schumacher Joie Ensor Kym Snell Brian Willis Thomas Debray Jon Deeks Lavinia Ferrante di Ruffano Sian Taylor-Phillips Chris Hyde Stuart A Taylor Gauraang Batnagar Lavinia Ferrante Di Ruffano Farah Seedat Aileen Clarke Sarah Byron Frances Nixon Rebecca Albrow Thomas Walker Carla Deakin Zhivko Zhelev Harriet Hunt Yaling Yang Lucy Abel James Buchanan Thomas Fanshawe Bethany Shinkins Laure Wynants Jan Verbakel Sabine Van Huffel Dirk Timmerman Ben Van Calster Aeliko Zwinderman Jason Oke Jack O'Sullivan Rafael Perera Brian Nicholson Hannah L Bromley Tracy E Roberts Adele Francis Denniis Petrie G Bruce Mann Kinga Malottki Holly Smith Lucinda Billingham Alice Sitch Oke Gerke Mie Holm-Vilstrup Eivind Antonsen Segtnan Ulrich Halekoh Poul Flemming Høilund-Carlsen Bernard G Francq Jac Dinnes Julie Parkes Walter Gregory Jenny Hewison Doug Altman William Rosenberg Peter Selby Julien Asselineau Paul Perez Aïssatou Paye Emilie Bessede Cécile Proust-Lima Christiana Naaktgeboren Joris de Groot Anne Rutjes Johannes Reitsma Emmanuel Ogundimu Jonathan Cook Yannick Le Manach Yvonne Vergouwe Romin Pajouheshnia Rolf Groenwold Karen Moons Linda Peelen Daan Nieboer Bavo De Cock Micael J Pencina Ewout W Steyerberg Jennifer Cooper Nick Parsons Chris Stinton Steve Smith Andy Dickens Rachel Jordan Alexandra Enocson David Fitzmaurice Peymane Adab Charles Boachie Gaj Vidmar Karoline Freeman Martin Connock Rachel Court Carl Moons Jessica Harris Andrew Mumford Zoe Plummer Kurtis Lee Barnaby Reeves Chris Rogers Veerle Verheyden Gianni D Angelini Gavin J Murphy Jeremy Huddy Melody Ni Katherine Good Graham Cooke 1Department of Clinical Epidemiology Biostatistics & Bioinformatics Academic Medical Center University of Amsterdam Amsterdam The Netherlands. 2Cochrane Netherlands Julius Center for Health Sciences and Primary Care University Medical Center Utrecht Utrecht Netherlands. 234Department of Clinical Epidemiology Biostatistics & Bioinformatics Academic Medical Center University of Amsterdam Amsterdam The Netherlands. 49Department of Clinical Epidemiology Biostatistics & Bioinformatics Academic Medical Center University of Amsterdam Amsterdam The Netherlands. 3Cochrane Dementia and Cognitive Improvement Group University of Oxford Oxford UK. 4EPPI-Centre Department of Social Science University College London London UK. 5Division of Health and Social Care Research King's College London London UK. 6College of Computer and Information Science Northeastern University Boston USA. 13University Hospitals Bristol NHS Foundation Trust School of Social and Community Medicine Bristol UK. 275Institute of Applied Health Research University of Birmingham Birmingham UK. 9Department of Clinical Epidemiology Biostatistics & Bioinformatics Academic Medical Center University of Amsterdam Amsterdam The Netherlands. 10School of Social and Community Medicine University of Bristol Bristol UK. 179Institute of Applied Health Research University of Birmingham Birmingham UK. 12Kleijnen Systematic Reviews Ltd York UK. 25Research Institute for Primary Care and Health Sciences Keele University Keele UK. 188Centre for Statistics in Medicine Nuffield Department of Orthopaedics Rheumatology and Musculoskeletal Sciences University of Oxford Oxford UK. 191Julius Center for Health Sciences and Primary Care University Medical Center Utrecht 3584 CG Utrecht Netherlands. 237Julius Center for Health Sciences and Primary Care University Medical Center Utrecht 3584 CG Utrecht Netherlands. 18Department of Medical Statistics University Medical Center Göttingen Göttingen Germany. 19Institute for B

[This corrects the article DOI: 10.1186/s41512-016-0001-y.].

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Takagi-Sugeno-Kang type collaborative fuzzy rule based system

Takagi-Sugeno-Kang type collaborative fuzzy rule based syste...

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IEEE Symposium on Computational Intelligence and Data Mining (CIDM)

作者： K. P. Chou M. Prasad Y. Y. Lin S. Joshi C. T. Lin J. Y. Chang Dept. of Computer Science Brain Research Center National Chiao Tung University Hsinchu Taiwan School of Technology Doon University Dehradun India Dept. of Electrical Engineering

In this paper, a Takagi-Sugeno-Kang (TSK) type collaborative fuzzy rule based system is proposed with the help of knowledge learning ability of collaborative fuzzy clustering (CFC). The proposed method split a huge dataset into several small datasets and applying collaborative mechanism to interact each other and this process could be helpful to solve the big data issue. The proposed method applies the collective knowledge of CFC as input variables and the consequent part is a linear combination of the input variables. Through the intensive experimental tests on prediction problem, the performance of the proposed method is as higher as other methods. The proposed method only uses one half information of given dataset for training process and provide an accurate modeling platform while other methods use whole information of given dataset for training.

关键词： Training Testing Engines Computational modeling Prototypes

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Visual Campus Road Detection for an UGV using Fast Scene Segmentation and Rapid Vanishing Point Estimation

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IFAC Proceedings Volumes 2014年第3期47卷 11898-11903页

作者： Min Zhu Yisha Liu Yan Zhuang Huosheng Hu Research Center of Information and Control Dalian University of Technology Dalian China School of Information Science and Technology Dalian Maritime University Dalian 116026 China School of Computer Science and Electronic Engineering University of Essex Wivenhoe Park Colchester CO4 3SQ U.K.

Vision-based road detection plays a key role for Unmanned Ground Vehicles (UGVs) working in an unknown outdoor environment. The estimation of the vanishing point is a practical solution for general road detection using monocular vision, which however is not good enough for robust road detection in a campus environment due to the strong noises of texture orientations generated from roadside trees and buildings. In this paper, a novel system framework is proposed by combining the fast scene segmentation (FSS) and the rapid vanishing point detection. The proposed FSS algorithm can segment a single image into road and non-road regions based on the similarity analysis of color histogram, which can eliminate the inherent noises in the trees and buildings and improve the robustness of road detection effectively. Before voting for the vanishing point, we use Canny algorithm to extract the edges in the road region roughly segmented in FSS step. Since most of the strong texture orientations exist in the extracted edges, the computational complexity in the voting stage can be reduced significantly. Experimental results implemented on a real UGV platform show the validity and robustness of the proposed approach.

关键词： Road detection scene segmentation vanishing point detection unmanned ground vehicles

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