Sensor Fusion In Localization Mapping And Tracking

DOWNLOAD

Download Sensor Fusion In Localization Mapping And Tracking PDF/ePub or read online books in Mobi eBooks. Click Download or Read Online button to get Sensor Fusion In Localization Mapping And Tracking book now. This website allows unlimited access to, at the time of writing, more than 1.5 million titles, including hundreds of thousands of titles in various foreign languages. If the content not found or just blank you must refresh this page

Sensor Fusion In Localization Mapping And Tracking

DOWNLOAD
Author : Constantin Wellhausen
language : en
Publisher:
Release Date : 2024

Sensor Fusion In Localization Mapping And Tracking written by Constantin Wellhausen and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024 with categories.

Making autonomous driving possible requires extensive information about the surroundings as well as the state of the vehicle. While specific information can be obtained through singular sensors, a full estimation requires a multi sensory approach, including redundant sources of information to increase robustness. This thesis gives an overview of tasks that arise in sensor fusion in autonomous driving, and presents solutions at a high level of detail, including derivations and parameters where required to enable re-implementation. The thesis includes theoretical considerations of the approaches as well as practical evaluations. Evaluations are also included for approaches that did not prove to solve their tasks robustly. This follows the belief that both results further the state of the art by giving researchers ideas about suitable and unsuitable approaches, where otherwise the unsuitable approaches may be re-implemented multiple times with similar results. The thesis focuses on model-based methods, also referred to in the following as classical methods, with a special focus on probabilistic and evidential theories. Methods based on deep learning are explicitly not covered to maintain explainability and robustness which would otherwise strongly rely on the available training data. The main focus of the work lies in three main fields of autonomous driving: localization, which estimates the state of the ego-vehicle, mapping or obstacle detection, where drivable areas are identified, and object detection and tracking, which estimates the state of all surrounding traffic participants. All algorithms are designed with the requirements of autonomous driving in mind, with a focus on robustness, real-time capability and usability of the approaches in all potential scenarios that may arise in urban driving. In localization the state of the vehicle is determined. While traditionally global positioning systems such as a Global Navigation Satellite System (GNSS) are often used for this task, they are prone to errors and may produce jumps in the position estimate which may cause unexpected and dangerous behavior. The focus of research in this thesis is the development of a localization system which produces a smooth state estimate without any jumps. For this two localization approaches are developed and executed in parallel. One localization is performed without global information to avoid jumps. This however only provides odometry, which drifts over time and does not give global positioning. To provide this information the second localization includes GNSS information, thus providing a global estimate which is free of global drift. Additionally the use of LiDAR odometry for improving the localization accuracy is evaluated. For mapping the focus of this thesis is on providing a computationally efficient mapping system which is capable of being used in arbitrarily large areas with no predefined size. This is achieved by mapping only the direct environment of the vehicle, with older information in the map being discarded. This is motivated by the observation that the environment in autonomous driving is highly dynamic and must be mapped anew every time the vehicles sensors observe an area. The provided map gives subsequent algorithms information about areas where the vehicle can or cannot drive. For this an occupancy grid map is used, which discretizes the map into cells of a fixed size, with each cell estimating whether its corresponding space in the world is occupied. However the grid map is not created for the entire area which could potentially be visited, as this may be very large and potentially impossible to represent in the working memory. Instead the map is created only for a window around the vehicle, with the vehicle roughly in the center. A hierarchical map organization is used to allow efficient moving of the window as the vehicle moves through an area. For the hierarchical map different data structures are evaluated for their time and space complexity in order to find the most suitable implementation for the presented mapping approach. Finally for tracking a late-fusion approach to the multi-sensor fusion task of estimating states of all other traffic participants is presented. Object detections are obtained from LiDAR, camera and Radar sensors, with an additional source of information being obtained from vehicle-to-everything communication which is also fused in the late fusion. The late fusion is developed for easy extendability and with arbitrary object detection algorithms in mind. For the first evaluation it relies on black box object detections provided by the sensors. In the second part of the research in object tracking multiple algorithms for object detection on LiDAR data are evaluated for the use in the object tracking framework to ease the reliance on black box implementations. A focus is set on detecting objects from motion, where three different approaches are evaluated for motion estimation in LiDAR data: LiDAR optical flow, evidential dynamic mapping and normal distribution transforms. The thesis contains both theoretical contributions and practical implementation considerations for the presented approaches with a high degree of detail including all necessary derivations. All results are implemented and evaluated on an autonomous vehicle and real-world data. With the developed algorithms autonomous driving is realized for urban areas.

Intelligent Sensors For Positioning Tracking Monitoring Navigation And Smart Sensing In Smart Cities

DOWNLOAD
Author : Tiancheng Li
language : en
Publisher: MDPI
Release Date : 2021-03-04

Intelligent Sensors For Positioning Tracking Monitoring Navigation And Smart Sensing In Smart Cities written by Tiancheng Li and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-03-04 with Technology & Engineering categories.

The rapid development of advanced, arguably, intelligent sensors and their massive deployment provide a foundation for new paradigms to combat the challenges that arise in significant tasks such as positioning, tracking, navigation, and smart sensing in various environments. Relevant advances in artificial intelligence (AI) and machine learning (ML) are also finding rapid adoption by industry and fan the fire. Consequently, research on intelligent sensing systems and technologies has attracted considerable attention during the past decade, leading to a variety of effective applications related to intelligent transportation, autonomous vehicles, wearable computing, wireless sensor networks (WSN), and the internet of things (IoT). In particular, the sensors community has a great interest in novel, intelligent information fusion, and data mining methods coupling AI and ML for substantial performance enhancement, especially for the challenging scenarios that make traditional approaches inappropriate. This reprint book has collected 14 excellent papers that represent state-of-the-art achievements in the relevant topics and provides cutting-edge coverage of recent advances in sensor signal and data mining techniques, algorithms, and approaches, particularly applied for positioning, tracking, navigation, and smart sensing.

Mobile Robots For Digital Farming

DOWNLOAD
Author : Redmond R. Shamshiri
language : en
Publisher: CRC Press
Release Date : 2024-09-09

Mobile Robots For Digital Farming written by Redmond R. Shamshiri and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-09-09 with Technology & Engineering categories.

This book provides a complete and comprehensive reference for agricultural mobile robots, covering all aspects of the design process, from sensing and perceiving to planning and acting for practical farming applications. Mobile Robots for Digital Farming explores topics such as Robot Operating Systems (ROS), dynamic simulation, artificial intelligence, image processing, and machine learning. Additionally, it features multiple case studies from funded projects and real-field trials. This book will be useful for professors and academics in various engineering disciplines (mechanical, robotics, control, electrical, computer, and agricultural), graduate and undergraduate students, farmers, commercial growers, startups, private companies, consultancy agencies, equipment suppliers, and agricultural policymakers.

Transdisciplinary Engineering For Resilience Responding To System Disruptions

DOWNLOAD
Author : L. Newnes
language : en
Publisher: IOS Press
Release Date : 2021-11-17

Transdisciplinary Engineering For Resilience Responding To System Disruptions written by L. Newnes and has been published by IOS Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-11-17 with Technology & Engineering categories.

No one discipline or person can encompass all the knowledge necessary to solve complex, ill-defined problems, or problems for which a solution is not immediately obvious. The concept of Concurrent Engineering (CE) – interdisciplinary, but with an engineering focus – was developed to increase the efficiency and effectiveness of the Product Creation Process (PCP) by conducting different phases of a product’s life concurrently. Transdisciplinary Engineering has transcended CE, emphasizing the crucial importance of interdisciplinary openness and collaboration. This book presents the proceedings of the 28th ISTE International Conference on Transdisciplinary Engineering (TE2021). Held online from 5 – 9 July 2021 and entitled ‘Transdisciplinary Engineering for Resilience: Responding to System Disruptions’, this is the second conference in the series held virtually due to the COVID-19 pandemic. The annual TE conference constitutes an important forum for international scientific exchange on transdisciplinary engineering research, advances, and applications, and is attended by researchers, industry experts and students, as well as government representatives. The book contains 58 peer-reviewed papers, selected from more than 80 submissions and ranging from the theoretical and conceptual to strongly pragmatic and addressing industrial best practice. The papers are grouped under 6 headings covering theory; education and training; PD methods and digital TE; industry and society; product systems; and individuals and teams. Providing an overview of the latest research results and knowledge of product creation processes and related methodologies, the book will be of interest to all researchers, design practitioners, and educators working in the field of Transdisciplinary Engineering.

Intelligent Bridge Maintenance And Management

DOWNLOAD
Author : Gang Wu
language : en
Publisher: Springer Nature
Release Date : 2024-08-17

Intelligent Bridge Maintenance And Management written by Gang Wu and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-08-17 with Business & Economics categories.

This book provides a timely introduction to the methodology of Intelligent Bridge Maintenance and Management (IBM&M) and a comprehensive synthesis of emerging digital technologies for realizing IBM&M. The authors, who carry research, teaching, and consulting experience in the USA, Japan, and China, present the background, principles, methods, and application examples of essential IBM&M solutions in eight dedicated chapters. The digital technologies covered in this book include: • Artificial intelligence, big data, machine learning, computer vision. • Data fusion, 3D building information, digital twin modeling, virtual and augmented reality. • Internet of things sensors, robotics including unmanned vehicles. The book targets the audience in the broader Bridge Engineering community, including academic researchers, students, bridge owners, and technology providers.

Connected And Autonomous Vehicles In Smart Cities

DOWNLOAD
Author : Hussein T. Mouftah
language : en
Publisher: CRC Press
Release Date : 2020-12-17

Connected And Autonomous Vehicles In Smart Cities written by Hussein T. Mouftah and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-12-17 with Technology & Engineering categories.

This book presents a comprehensive coverage of the five fundamental yet intertwined pillars paving the road towards the future of connected autonomous electric vehicles and smart cities. The connectivity pillar covers all the latest advancements and various technologies on vehicle-to-everything (V2X) communications/networking and vehicular cloud computing, with special emphasis on their role towards vehicle autonomy and smart cities applications. On the other hand, the autonomy track focuses on the different efforts to improve vehicle spatiotemporal perception of its surroundings using multiple sensors and different perception technologies. Since most of CAVs are expected to run on electric power, studies on their electrification technologies, satisfaction of their charging demands, interactions with the grid, and the reliance of these components on their connectivity and autonomy, is the third pillar that this book covers. On the smart services side, the book highlights the game-changing roles CAV will play in future mobility services and intelligent transportation systems. The book also details the ground-breaking directions exploiting CAVs in broad spectrum of smart cities applications. Example of such revolutionary applications are autonomous mobility on-demand services with integration to public transit, smart homes, and buildings. The fifth and final pillar involves the illustration of security mechanisms, innovative business models, market opportunities, and societal/economic impacts resulting from the soon-to-be-deployed CAVs. This book contains an archival collection of top quality, cutting-edge and multidisciplinary research on connected autonomous electric vehicles and smart cities. The book is an authoritative reference for smart city decision makers, automotive manufacturers, utility operators, smart-mobility service providers, telecom operators, communications engineers, power engineers, vehicle charging providers, university professors, researchers, and students who would like to learn more about the advances in CAEVs connectivity, autonomy, electrification, security, and integration into smart cities and intelligent transportation systems.

Proceedings Of The 2024 2nd International Conference On Image Algorithms And Artificial Intelligence Iciaai 2024

DOWNLOAD
Author : Yulin Wang
language : en
Publisher: Springer Nature
Release Date : 2024-10-12

Proceedings Of The 2024 2nd International Conference On Image Algorithms And Artificial Intelligence Iciaai 2024 written by Yulin Wang and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-10-12 with Computers categories.

This is an Open Access book. 2024 2nd International Conference on Image, Algorithms and Artificial Intelligence (ICIAAI2024) will be held in Singapore (Online Participation is acceptable) during August 9-11, 2024. ICIAAI aims to provide a good forum for scientists, researchers, engineers and industrial practitioners throughout the world to present and discuss the latest technology advancement as well as future directions and trends in image, algorithms and artificial intelligence . ​The scope of ICIAAI 2024 covers research areas such as imaging, algorithms and artificial intelligence. Related fields of research include computer software, programming languages, software engineering, computer science applications, artificial intelligence, Intelligent data analysis, deep learning, high-performance computing, signal processing, information systems, computer graphics, computer-aided design, Computer vision, etc.​ ​The objectives of the conference are:The conference aims to provide a platform for experts, scholars, engineers and technicians engaged in the research of image, algorithm and artificial intelligence to share scientific research results and cutting-edge technologies. It will be a perfect gathering to strengthen academic research and discussion, promote the development and progress of relevant research and application, and promote the development of disciplines and promote talent training.

Advances In Robot Design And Intelligent Control

DOWNLOAD
Author : Theodor Borangiu
language : en
Publisher: Springer
Release Date : 2015-08-07

Advances In Robot Design And Intelligent Control written by Theodor Borangiu and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-08-07 with Technology & Engineering categories.

This volume includes the Proceedings of the 24th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2015, which was held in Bucharest, Romania, on May 27-29, 2015. The Conference brought together academic and industry researchers in robotics from the 11 countries affiliated to the Alpe-Adria-Danube space: Austria, Croatia, Czech Republic, Germany, Greece, Hungary, Italy, Romania, Serbia, Slovakia and Slovenia, and their worldwide partners. According to its tradition, RAAD 2015 covered all important areas of research, development and innovation in robotics, including new trends such as: bio-inspired and cognitive robots, visual servoing of robot motion, human-robot interaction, and personal robots for ambient assisted living. The accepted papers have been grouped in nine sessions: Robot integration in industrial applications; Grasping analysis, dexterous grippers and component design; Advanced robot motion control; Robot vision and sensory control; Human-robot interaction and collaboration; Modelling and design of novel mechanisms and robotic structures; Robots in medicine and rehabilitation; Tracking systems and Unmanned Aerial Vehicles; Autonomous task learning, motion planning and scheduling.

Robotics Text Book

DOWNLOAD
Author : Manish Soni
language : en
Publisher:
Release Date : 2024-11-13

Robotics Text Book written by Manish Soni and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-11-13 with Study Aids categories.

Welcome to "Robotics: From Fundamentals to Advanced Applications," your comprehensive guide to understanding and mastering the field of robotics. In an era where automation and intelligent systems are revolutionizing industries, robotics stands at the forefront, driving innovations across manufacturing, healthcare, exploration, and more. As we delve deeper into this transformative technology, it is essential for both beginners and seasoned professionals to grasp its fundamental concepts and applications thoroughly. This book is meticulously crafted to serve as a complete learning resource, catering to the diverse needs of learners at all levels. Whether you are a student embarking on your first exploration into robotics or a professional seeking to enhance your expertise, this guide provides the essential tools and resources necessary to achieve your learning goals.

Proceedings Of 2021 International Conference On Autonomous Unmanned Systems Icaus 2021

DOWNLOAD
Author : Meiping Wu
language : en
Publisher: Springer Nature
Release Date : 2022-03-18

Proceedings Of 2021 International Conference On Autonomous Unmanned Systems Icaus 2021 written by Meiping Wu and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-03-18 with Technology & Engineering categories.

This book includes original, peer-reviewed research papers from the ICAUS 2021, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2021 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.