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A Dempster-Shafer based approach to the detection of trajectory stop points

Amin Hosseinpoor Milaghardan, Rahim Ali Abbaspour, Christophe Claramunt
2018 Computers, Environment and Urban Systems  
The framework developed in this paper introduces an approach based on the Dempster-Shafer theory of evidence, and whose objective is to detect trajectory stop points and associated degrees of uncertainty  ...  The results show that our approach reduces uncertainty values when detecting trajectory stop points as well as a significant improvement of the recall and precision values.  ...  Another parameter of the Dempster-Shafer theory is the uncertainty value that is applied to the detection of movement points.  ... 
doi:10.1016/j.compenvurbsys.2018.03.007 fatcat:awegwmhrvvhhtp2tazoz22a5u4

Motion Tracking and Potentially Dangerous Situations Recognition in Complex Environment [chapter]

Houssam Salmane, Yassine Ruichek, Louahdi Khoudour
2017 Motion Tracking and Gesture Recognition  
Then, a danger evaluation method is built using hidden Markov model in order to predict trajectories of the detected objects.  ...  The trajectories are analyzed with a credibility model to evaluate dangerous situations at level crossings.  ...  Acknowledgements This work is developed within the framework of PANsafer project (Towards a safer level crossing), supported by the ANR French work program.  ... 
doi:10.5772/68141 fatcat:lg5bropyyzhg7j5ra7nht4nspm

A Spatio-Temporal Entropy-based Framework for the Detection of Trajectories Similarity

Amin Hosseinpoor Milaghardan, Rahim Ali Abbaspour, Christophe Claramunt
2018 Entropy  
The whole approach is experimented and applied to urban trajectories derived from the Geolife dataset, a reference data benchmark available in the city of Beijing.  ...  The trajectory primitives considered include curvatures, stop-points, self-intersections and velocities.  ...  In a related work we introduced an approach based on the Dempster-Shafer theory of evidence, and whose objective is to detect trajectory stop points and associated degrees of uncertainty [59] .  ... 
doi:10.3390/e20070490 pmid:33265580 fatcat:z56t6ycftvb5femjidtoftaavm

Fusion of trajectory clusters for situation assessment

Lauro Snidaro, Claudio Piciarelli, Gian Foresti
2006 2006 9th International Conference on Information Fusion  
Here we extend our previous work to cater for observations provided by multiple cameras observing the same scene. Data fusion is performed within the Dempster-Shafer theory of evidence framework.  ...  Targets' trajectories are analysed and compared to common patterns of activity represented as clusters of trajectories.  ...  Acknowledgement This work was supported by the European FP6 Project MISS "Monitor Integrated Safety System" (TST4-CT-2004-516235).  ... 
doi:10.1109/icif.2006.301658 dblp:conf/fusion/SnidaroPF06 fatcat:uixbtfnmczdlzdhirpgimuyzma

Enhancing Mobile Object Classification Using Geo-referenced Maps and Evidential Grids [article]

Marek Kurdej, Véronique Cherfaoui
2014 arXiv   pre-print
Evidential grids are a generalisation of Bayesian occupancy grids using Dempster- Shafer theory. In particular, these grids can handle efficiently partial information.  ...  The paper presents the key stages of such a data fusion process. An adaptation of conjunctive combination rule is presented to refine the analysis of the conflicting information.  ...  This paper describes a robust and unified approach to a variety of problems in spatial representation using the Dempster-Shafer theory of evidence.  ... 
arXiv:1401.5657v1 fatcat:gx6ysu4o2vemvkqycioh4xev2m

Map-Aided Evidential Grids for Driving Scene Understanding

Marek Kurdej, Julien Moras, Veronique Cherfaoui, Philippe Bonnifait
2015 IEEE Intelligent Transportation Systems Magazine  
Evidential grids have recently shown interesting properties for mobile object perception since the Dempster-Shafer framework allow them to handle efficiently partial information which is a frequent situation  ...  Another output of this approach is the capability to separate the navigable space from the non-navigable one.  ...  This paper describes a unified approach to a variety of problems in spatial representation using the Dempster-Shafer theory of evidence.  ... 
doi:10.1109/mits.2014.2352371 fatcat:wlrrhhzn4vaitmbw5re7jsxvey

TRAJECTORY PLANNING FOR AUTONOMOUS VEHICLE IN UNCERTAIN ENVIRONMENT USING EVIDENTIAL GRID

Hafida Mouhagir, Véronique Cherfaoui, Reine Talj, François Aioun, Franck Guillemard
2017 IFAC-PapersOnLine  
Our aim is to develop a planning approach based on clothoid tentacles allowing a vehicle to move autonomously and safely in an environment which is not perfectly known a priori and in which static obstacles  ...  This paper considers the path planning problem for an autonomous vehicle given uncertain knowledge about the surrounding environment.  ...  In the theory of Dempster-Shafer, a frame of discernment ⌦ is defined to model a specific problem.  ... 
doi:10.1016/j.ifacol.2017.08.2193 fatcat:bjpsjcgcuzbhfaimchsydxzzyi

A Systematic Survey on Sensor Failure Detection and Fault-Tolerance in Ambient Assisted Living

Nancy ElHady, Julien Provost
2018 Sensors  
However, false positive or negative triggers of those sensors could lead to a misleading interpretation of the status of the elderlies.  ...  This paper presents a systematic literature review of the sensor failure detection and fault tolerance in AAL equipped with non-intrusive, event-driven, binary sensors.  ...  The sensor data was fed to the evidential reasoning network that is based on the Dempster-Shafer theory.  ... 
doi:10.3390/s18071991 pmid:29933622 pmcid:PMC6069464 fatcat:aclusns2qre3fj4ljtajm6hscm

Omnidirectional Vision Based Topological Navigation

Toon Goedemé, Marnix Nuttin, Tinne Tuytelaars, Luc Van Gool
2007 International Journal of Computer Vision  
The topological nature of the map is similar to the intuitive maps humans use, is memory-efficient and enables fast and simple path planning towards a specified goal.  ...  We developed a real-time visual servoing technique to steer the system along the computed path.  ...  Aknowledgments This work is partially supported by the Inter-University Attraction Poles, Office of the Prime Minister (IUAP-AMS), the Flemish Institute for the Advancement of Science in Industry (IWT)  ... 
doi:10.1007/s11263-006-0025-9 fatcat:j2yz4e752nhofbazsgdjkuk4lu

Omnidirectional Vision Based Topological Navigation [chapter]

Toon Goedeme, Luc Van
2010 Mobile Robots Navigation  
The topological nature of the map is similar to the intuitive maps humans use, is memory-efficient and enables fast and simple path planning towards a specified goal.  ...  We developed a real-time visual servoing technique to steer the system along the computed path.  ...  Aknowledgments This work is partially supported by the Inter-University Attraction Poles, Office of the Prime Minister (IUAP-AMS), the Flemish Institute for the Advancement of Science in Industry (IWT)  ... 
doi:10.5772/8989 fatcat:fj44jgrtpzgeteya5uj7bzrl4i

Robust Vision-only Mobile Robot Navigation with Topological Maps [chapter]

Toon Goedeme, Luc Van
2008 Motion Planning  
For the time being, we added a range sensing device for obstacle detection, but this is to be replaced by an omnidirectional vision range estimator under development.  ...  In contrast to classical navigation methods, we chose a topological representation of the environment, rather than a metrical one, because of its resemblance to the intuitive system humans use for navigation  ...  Using the Dempster-Shafer based evidence collection, 6 of 41 link hypotheses were rejected, as shown in fig. 11.  ... 
doi:10.5772/6019 fatcat:j3if52knzff37pvxnmvqhgioxm

Using evidential occupancy grid for vehicle trajectory planning under uncertainty with tentacles

Hafida Mouhagir, Veronique Cherfaoui, Reine Talj, Francois Aioun, Franck Guillemard
2017 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC)  
Secondly, we generate a set of clothoid tentacles in the egocentered reference frame related to the ego-vehicle, those tentacles represent possible local trajectories.  ...  The uncertainty in environment perception is one of the challenges that we face in trajectory planning.  ...  ACKNOWLEDGMENT This work was carried out in the framework of the the Equipex ROBOTEX (Reference ANR-10-EQPX-44-01) and the Labex MS2T (Reference ANR-11-IDEX-0004-02) which were funded by the French Government  ... 
doi:10.1109/itsc.2017.8317808 dblp:conf/itsc/MouhagirCTAG17 fatcat:wsiaxcgssbdmlke463fnvjnbyy

Dynamic Environment Prediction in Urban Scenes using Recurrent Representation Learning [article]

Masha Itkina, Katherine Driggs-Campbell, Mykel J. Kochenderfer
2019 arXiv   pre-print
A reliable prediction of the future environment, including the behavior of dynamic agents, would allow planning algorithms to proactively generate a trajectory in response to a rapidly changing environment  ...  We take advantage of the temporal structure of the grid data by utilizing a convolutional long-short term memory network in the form of the PredNet architecture.  ...  ACKNOWLEDGMENT The authors would like to acknowledge this project being made possible by the funding from the Ford-Stanford Alliance.  ... 
arXiv:1904.12374v2 fatcat:akvfnn6g6ndandmbzlzibp2qbu

Sensor Data Fusion in Automotive Applications [chapter]

Panagiotis Lytrivis, George Thomaidis, Angelos Amditis
2009 Sensor and Data Fusion  
A Dempster-Shafer or Rule based or Fuzzy inference system can be used for identifying the driver's intention.  ...  The formulation of the rules in a rule based system or the membership functions in a Fuzzy inference system or the basic probability assignment functions in a Dempster-Shafer system are based on simple  ... 
doi:10.5772/6574 fatcat:ruafc5pqkzb3rhrwo3gd7pfmba

Assessing map-based maneuver hypotheses using probabilistic methods and evidence theory

Dominik Petrich, Thao Dang, Gabi Breuel, Christoph Stiller
2014 17th International IEEE Conference on Intelligent Transportation Systems (ITSC)  
Motion prediction is a difficult task since it has to deal with the uncertainty within the environmental perception and the ambiguity of a traffic scene.  ...  Furthermore, we introduce an evidence theory based situation interpretation to assess the several behavior hypotheses as well as to determine the inherent uncertainty.  ...  To infer the intention of an observed vehicle we propose in this section a behavior analysis which is based on the evidence theory, first introduced by Dempster and Shafer in 1976 [16] .  ... 
doi:10.1109/itsc.2014.6957818 dblp:conf/itsc/PetrichDBS14 fatcat:avs4p7523rfo7aa225zxhphxq4
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