Throughout the last decades, Robotics Community has influenced Autonomous Vehicles field in multiple different areas ranging from Scene Understanding and Decision Making to Vehicle Control Optimal Path Planning. Existing path planning algorithms such as A-star, Dijkstra Graph-based approaches, although providing good optimal approximations, are suffering high-runtimes convergence. This paper presents an innovative computationally efficient approach of fusing well-known Hybrid A-star search...

Recently, there are many autonomous navigation applications done in outdoor environment. However, safe is still a daunting challenge terrain containing vegetation. Thus, study on vegetation detection for automobile investigated this work. At the early state of our research, we focused segmentation LADAR data into two classes by using local three-dimensional point cloud statistics. The are: scatter to represent such as tall grasses, bushes and tree canopy, surface capture solid objects like...

The paper introduces an active way to detect vegetation which is at front of the vehicle in order give a better decision-making navigation. Blowing devices are be used for creating strong wind effect vegetation. Motion compensation and motion detection techniques applied foreground objects presumably judged as approach enables double-check process was done by multi-spectral approach, but more emphasizing on purpose passable detection. In all real world experiments we carried out, our yields...

Despite the great scientific effort to capture adequately complex environments in which autonomous vehicles (AVs) operate there are still use-cases that even SoA methods fail handle. Specifically odometry problems, on one hand, geometric solutions with certain assumptions often breached AVs, and other deep learning do not achieve high accuracy. To contribute we present CarlaScenes, a large-scale simulation dataset captured using CARLA simulator. The is oriented address challenging scenarios...

This paper introduces a novel approach for moving static separation, which can be efficiently used outlier removal within optical flow-based 3D reconstruction or object detection even in the case of observer. The contributions proposed include an efficient implementation, high accuracy and embedded friendliness. These characteristics make very attractive automotive safety applications based on camera systems. also highlights some possible where use separation play key role improving performance.

This paper presents a simple and robust auto white balance algorithm using the coincidence of chromaticity histograms. After analyzing relationship between color histogram constancy, overlap area histograms that keep images but not effect luminance existing in is employed to estimate correct illuminant scenes. When reaches maximum, correspondingly respective gain coefficients channels can be derived achieve camera. Through numerous experiments evaluations based on processing real world...

Autonomous driving and its practical applications for mobile robotics (e.g. automotive industry) are one of the most futuristic plans engineering industry which will change way using vehicles. Having a fully autonomous vehicle on public roads is not something short future. To bring technology to real life, very first step would be bringing gradually in people's routine style. An automated parking system vehicles these examples life applications. Planning an optimum path all types scenarios...

Planning a global path to navigate autonomous vehicles from generic perspective defines the overall maneuvers and performance of vehicles. Inefficient time-consuming approaches limit in planning reach desired target position. This paper presents low-cost computationally efficient approach fusing well-known Hybrid A* search algorithm with Voronoi diagram find shortest possible non-holonomic route hybrid (continuous-discrete) environment for valet parking applications. The primary novelty our...

In order to adjust the exposure of high resolution and frequency images from an on-board camera in real time, a simple control approach based on luminance histogram analysis is presented realize light precisely rapidly. The algorithm divides initial image into nine blocks calculates mean brightness every part. It uses analyze degree both: global part, especially interest areas. According area size neighborhood two edges histogram, different weight matrix can be decided quickly calculate...

Deep learning computer-aided detection (CAD) system for diagnosing abnormal findings related to Tuberculosis (TB) disease on chest X-ray images (CXRs) is growing in research. However, the deep model's reliability depends model quality, generalization, and large dataset. To deal with this problem, we provide a TB dataset, namely VB-TB Dataset, propose an efficient approach diagnosis, including classification area segmentation models. In our obtained total of 246,216 clean labeled images,...

One of the main challenges for autonomous navigation in cluttered outdoor environments is to determine which obstacles can be driven over and need avoided. Especially off-road driving, aim not only recognize lethal on vehicle's way at all costs, but also predict scene category thereby giving a better decision-making framework vehicle navigation. This paper studies terrain classification based structure relying sparse 3-D data from LADAR mobility sensors. While most recent methods processing...

Recently autonomous parking has got a great attention from researchers both Academy and Industry being known as one of the key subsets driving. Since driving is at its hype but with many remaining concerns, more practical for daily applications feasible to be immediately realized mass-production in automotive industry. Current solutions require multiple maneuvers significant amount time park, which lead problematic real-life applications, depending on traffic situation around ego-vehicle. In...

Abstract Pistons play a vital role in internal combustion engines, affecting both performance and reliability, are subjected to intense thermal-mechanical loads that have become more challenging due improved engine efficiency power. This study examines the thermal mechanical stress experienced by piston heavy-duty medium-speed diesel during warm-up. The engines typically used heavy trucks, locomotives, ships. A combination of computational fluid dynamics, finite element method, matlab was...

One of the main challenges for autonomous navigation is to determine which obstacles can be driven over and need avoided. The investigation reconstructing 3D model viewed scene has showed good performance in environments such as yard, hall way or on road. However, cluttered outdoor where frequently scenes are unknown objects no more static rigid, only use 3D-point analysis not sufficient give decision safe navigation. Therefore, we other hand address a new approach reconstructs completely...

By increasing complexity of tasks, autonomous outdoor robots emerge from single beings into cooperating groups. This paper first introduces the developed at University Siegen and then discusses architecture communication structure that is able to glue these a group working on common task while exploiting their different abilities. The describes new software system universally connects quite one group. Based VSAL middle ware ROS CAPTAIN implements complex missions via hierarchic state...