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Automatic Vehicle Trajectory Extraction by Aerial Remote Sensing

Carlos Lima Azevedo, João L. Cardoso, Moshe Ben-Akiva, João P. Costeira, Manuel Marques
2014 Procedia - Social and Behavioral Sciences  
Among this type of data, vehicle trajectories are an important source of information for traffic flow theory, driving behaviour modelling, innovation in traffic management and safety and environmental  ...  This approach allows for the optimization of an entire set of trajectories against all possible position candidates using motion-based optimization.  ...  Vehicle-based methods make use of probe vehicles equipped with multiple sensors that travel in the traffic stream and collect time series information on the behaviour of a test driver and/or adjacent vehicles  ... 
doi:10.1016/j.sbspro.2014.01.119 fatcat:d4yt32gtzjdirmyw5guf54an7e

Telerobotics for Rescue Robots

Kazunori Ohno
2012 Journal of the Robotics Society of Japan  
Ohno and S. Tadokoro: "Devel- opment of Motion Model and Position Correction Method us- ing Terrain Information for Tracked Vehicles with Sub-Tracks," Proc. of IEEE/RSJ Inc.  ...  Koyanagi: "Shared Autonomy System for Traversing and Turning Tracked Vehicles on Rough Terrain Based on Con- tinuous Three-Dimensional Terrain Scanning," Journal of Field Robotics, vol.28, issue 6, pp  ... 
doi:10.7210/jrsj.30.571 fatcat:bzmljnhkynhcrk5jvmt32stufq

An information fusion demonstrator for tactical intelligence processing in network-based defense

Simon Ahlberg, Pontus Hörling, Katarina Johansson, Karsten Jöred, Hedvig Kjellström, Christian Mårtenson, Göran Neider, Johan Schubert, Pontus Svenson, Per Svensson, Johan Walter
2007 Information Fusion  
and terrain information, employing fusion, tracking, aggregation, and resource allocation methods all built on well-founded theories of uncertainty.  ...  The motives behind this project, the fusion methods developed for the system, as well as its scenario model and simulator architecture are described.  ...  Particle filtering is suited for tracking with non-linear and non-Gaussian motion models, and is thus suitable for ground target tracking.  ... 
doi:10.1016/j.inffus.2005.11.002 fatcat:eppjwn6zcne7ncovyga3ze7py4

Real-time and 3D vision for autonomous small and micro air vehicles

T. Kanade, O. Amidi, Q. Ke
2004 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)  
Small cameras, which are available today at very low cost, are attractive sensors for SMAV. 3D vision by video and laser scanning has distinct advantages in that they provide positional information relative  ...  This paper presents work on real-time 3D vision algorithms for recovering motion and structure from a video sequence, 3D terrain mapping from a laser range finder onboard a small autonomous helicopter,  ...  INTRODUCTION One of the critical capabilities for making a small-and micro-air vehicle (SMAV) autonomous and useful is the precise estimation of the SMAV states (pose and position) and 3D mapping of its  ... 
doi:10.1109/cdc.2004.1430282 fatcat:evqsr6fujbajddu7dq2zamdhwq

Digital image correlation techniques for measuring tyre-road interface parameters: Part 1 – Side-slip angle measurement on rough terrain

Theunis R. Botha, P. Schalk Els
2015 Journal of terramechanics  
This paper presents inexpensive methods whereby the vehicle side-slip angle can be measured accurately at low speeds on any terrain using cameras.  ...  The last two methods are aimed more at rough terrain applications, where the terrain induces motion components other than typical predominant yaw-plane motion.  ...  Opinions expressed and conclusions arrived at, are those of the author and are not necessarily to be attributed to the DAAD-NRF.  ... 
doi:10.1016/j.jterra.2015.04.004 fatcat:dccp2gvkxrhevorrnhtyazn2he

Shared Autonomy System for Turning Tracked Vehicles on Rough Terrain Using Real-Time Terrain Scanning

Yoshito Okada, Keiji Nagatani, Kazuya Yoshida, Tomoaki Yoshida, Eiji Koyanagi
2010 The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM  
In this paper, we introduce a new autonomous controller for the flippers to support the turning motion of tracked vehicles.  ...  Tracked vehicles are frequently used as search-andrescue robots for exploring areas affected by disasters.  ...  Acknowledgment This work was supported by Strategic Advanced Robot Technology, an R&D project of NEDO, Japan.  ... 
doi:10.1299/jsmeicam.2010.5.195 fatcat:u3fwhotcczbrnakdbyl7u4wldy

Vehicle Tracking Using the k-shortest Paths Algorithm and Dual Graphs

Carlos Lima Azevedo, João Lourenço Cardoso, Moshe Ben-Akiva
2014 Transportation Research Procedia  
Vehicle trajectory descriptions are required for the development of driving behavior models and in the calibration of several traffic simulation applications.  ...  Besides the importance of a new trajectory dataset that will allow for the estimation of new behavioral models and the validation of existing ones, the motion-based multiple-vehicle tracking algorithm  ...  The authors would like also to thank InfoPortugal S.A. for the collection of the raw aerial images and the orthorectificaiton using the 3D terrain model.  ... 
doi:10.1016/j.trpro.2014.07.002 fatcat:dpvwrjxuovej5oksp2ptlznyeu

On-Line Learning and Updating Unmanned Tracked Vehicle Dynamics

Natalia Strawa, Dmitry I. Ignatyev, Argyrios C. Zolotas, Antonios Tsourdos
2021 Electronics  
A comprehensive mathematical model of a skid steering tracked vehicle is presented in this paper and used to design a control law.  ...  Analysis of the controller under model uncertainties in inertial parameters and in the vehicle-terrain interaction revealed undesirable behavior, such as controller divergence and offset from the desired  ...  [15] considered more complex and generalized track-terrain interactions model. Some advanced methods were also used to describe vehicle-terrain interaction.  ... 
doi:10.3390/electronics10020187 fatcat:rbvmwb2zbnah7m2je3otcicw4u

Augmented reality tower technology flight test

Ronald J. Reisman, Steven K. Feiner, David M. Brown
2014 Proceedings of the International Conference on Human-Computer Interaction in Aerospace - HCI-Aero '14  
Compensating for registration errors of static objects and modeling aircraft movement reduces registration errors for dynamic (aircraft) objects to ≤2° of error for aircraft-surveillance transport latency  ...  Augmented reality technology adapted for air traffic control tower applications was used to track an OH-58C helicopter in proximity to an airport.  ...  Test Aircraft: The primary test vehicle was an OH-58C owned and operated by the US Army. This vehicle was equipped with three different position and state tracking systems.  ... 
doi:10.1145/2669592.2669651 fatcat:vmjpojiotnfdxkvl4gobmerabi

URAV Simulation Training System Based on Aerosim and Google Earth

Zengyan Li, Xiaomin Li, Junwei Lv, Yingsong Li
2012 Journal of Signal and Information Processing  
In order to solve the difficulties of traditional simulation training method on unmanned reconnaissance aerial vehicle, such as the low environment fidelity, difficulty of modeling and long cycle of development  ...  The visual simulation environment which is close to real scenes is formed though GE and software of SketchUp, and the visualization of flight data and elevation information of the region are also obtained  ...  By making use of current 3D models, the workload of modeling are reduced through form transformation and it provides good reference to objects' tracking and fire correction.  ... 
doi:10.4236/jsip.2012.32022 fatcat:y244prdlzjedzcwd5fntj4maly

Active camera stabilization to enhance the vision of agile legged robots

Stéphane Bazeille, Jesus Ortiz, Francesco Rovida, Marco Camurri, Anis Meguenani, Darwin G. Caldwell, Claudio Semini
2015 Robotica (Cambridge. Print)  
Moreover, as the quadruped locomotion induces strong regular vibrations, impacts or slippages on rough terrain, we took advantage of the PTU to mechanically compensate for the robot's motions.  ...  In particular, during the outdoor tests on the quadruped robot, the use of our camera stabilization system improved the accuracy on the 3D maps by 25%, with a decrease of 50% of mapping failures.  ...  ACKNOWLEDGMENTS The authors would like to thank Philipp Krusi and Paul Furgale from the Autonomous System Lab (ASL) at ETH Zürich for providing us with a dataset of the ARTOR project [36] .  ... 
doi:10.1017/s0263574715000909 fatcat:zkxdhhcqxzhm3itfnirruk2d5y

Visual Navigation for Mobile Robots: A Survey

Francisco Bonin-Font, Alberto Ortiz, Gabriel Oliver
2008 Journal of Intelligent and Robotic Systems  
This survey presents those pieces of work, from the nineties until nowadays, which constitute a wide progress in visual navigation techniques for land, aerial and autonomous underwater vehicles.  ...  The paper deals with two major approaches: map-based navigation and mapless navigation.  ...  We also thank Lucrecia Rallo Fabra for her diligence and for her expert corrections and suggestions.  ... 
doi:10.1007/s10846-008-9235-4 fatcat:rkw4hdawznakjgccx32qt2etku

Vehicle following with obstacle avoidance capabilities in natural environments

Teck Chew Ng, J. Ibanez-Guzman, Jian Shen, Zhiming Gong, Han Wang, Chen Cheng
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
By combining a novel vehicle-tracking and detection algorithm with our path-planner for autonomous navigation, it was possible for a tracked Logistics Armoured Ambulance Carrier to follow a multi purpose  ...  With this new approach, vehicle following performance is enhanced and vehicle safety ensured.  ...  A Kalman filter is used for position estimation and correction.  ... 
doi:10.1109/robot.2004.1302391 dblp:conf/icra/NgGSGWC04 fatcat:kduqcolhubc3xnpthg7iil35fq

Integrated planning and control of large tracked vehicles in open terrain

Xiuyi Fan, Surya Singh, Florian Oppolzer, Eric Nettleton, Ross Hennessy, Alexander Lowe, Hugh Durrant-Whyte
2010 2010 IEEE International Conference on Robotics and Automation  
This paper presents an integrated motion planning and control system for tracked vehicles.  ...  Trajectory generation and control of large equipment in open field environments involves systematically and robustly operating in uncertain and dynamic terrain.  ...  ARCHITECTURE OVERVIEW Considerable research in the tracked vehicle domain has been focused on model-based operations with explicit kinematic and terrain models, particularly in regards to trackground interaction  ... 
doi:10.1109/robot.2010.5509392 dblp:conf/icra/FanSONHLD10 fatcat:7hsoajdd6bagzhi3ujfzi6shka

An autonomous excavator with vision-based track-slippage control

P. Saeedi, P.D. Lawrence, D.G. Lowe, P. Jacobsen, D. Kusalovic, K. Ardron, P.H. Sorensen
2005 IEEE Transactions on Control Systems Technology  
Fourth, a vision-based motion tracking system is implemented to find the 3D motion of the vehicle as it moves in the work space.  ...  Second, a fuzzy logic path-tracking controller estimates the rotational and translational velocities for the vehicle to move along the pre-designed path.  ...  Bachmann for his help with the machine hydraulic system.  ... 
doi:10.1109/tcst.2004.838551 fatcat:jlmyczzvmbcxdag44un74creqi
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