Pub Date : 2018-09-01DOI: 10.23919/iconac.2018.8749032
{"title":"Program and Organizing Committees","authors":"","doi":"10.23919/iconac.2018.8749032","DOIUrl":"https://doi.org/10.23919/iconac.2018.8749032","url":null,"abstract":"","PeriodicalId":121030,"journal":{"name":"2018 24th International Conference on Automation and Computing (ICAC)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125622728","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.23919/IConAC.2018.8749027
Zhijun Li, Xiao Li, B. Cui
In order to effectively increase the control quality of the load frequency controller, this paper proposes a Cloud-Neural Network PI controller based on cloud theory to solve the adverse effects of uncertainties in interconnected power system. Cloud theory solves uncertain problems by skillfully combining probability statistics with fuzzy theory, but relies heavily on artificial experience, while proposed cloud neural network algorithm can learn cloud control rules by itself. Therefore, cloud-neural network PI controller can solve the problem of fixing the membership functions of input variables and fuzzy rules by clouds algorithm, and implement the nonlinear mapping between variables by neural network. Compared with cloud theory, this new algorithm retains self-learning function of the neural network and does not depend on artificial experience. On the Matlab platform, comparison of Cloud-Neural Network PI controller, Cloud PI controller and traditional PI controller is made in complex nonlinear power system, and simulation results show that proposed Cloud-Neural Network PI controller has strong adaptive and self-learning capabilities, presenting better robust performance and dynamic-static characteristic.
{"title":"Cloud Neural Algorithm based Load Frequency Control in Interconnected Power System","authors":"Zhijun Li, Xiao Li, B. Cui","doi":"10.23919/IConAC.2018.8749027","DOIUrl":"https://doi.org/10.23919/IConAC.2018.8749027","url":null,"abstract":"In order to effectively increase the control quality of the load frequency controller, this paper proposes a Cloud-Neural Network PI controller based on cloud theory to solve the adverse effects of uncertainties in interconnected power system. Cloud theory solves uncertain problems by skillfully combining probability statistics with fuzzy theory, but relies heavily on artificial experience, while proposed cloud neural network algorithm can learn cloud control rules by itself. Therefore, cloud-neural network PI controller can solve the problem of fixing the membership functions of input variables and fuzzy rules by clouds algorithm, and implement the nonlinear mapping between variables by neural network. Compared with cloud theory, this new algorithm retains self-learning function of the neural network and does not depend on artificial experience. On the Matlab platform, comparison of Cloud-Neural Network PI controller, Cloud PI controller and traditional PI controller is made in complex nonlinear power system, and simulation results show that proposed Cloud-Neural Network PI controller has strong adaptive and self-learning capabilities, presenting better robust performance and dynamic-static characteristic.","PeriodicalId":121030,"journal":{"name":"2018 24th International Conference on Automation and Computing (ICAC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127984417","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.23919/IConAC.2018.8748986
R. M. Fouad, A. Onsy, O. Omer
In this work, a real-time unobtrusive heart rate monitoring system is proposed and implemented. The proposed system aims to monitor the heart rate of the passengers by using a low-cost camera, which can be readily embedded in the car's rear-view mirror. Additionally, we integrate this system with the main system of our test driverless car, and we propose how driverless cars should act in response to serious medical emergency situations. Moreover, we investigate how this system can benefit from the promising features of Google I/O and Google AI. Our approach is based on Remote Photoplethysmography (rPPG), in which the heart rate is extracted from the subtle tiny changes occurring in the skin color of the face during every pulsation. The face is automatically detected and tracked, then the raw signal is calculated from each frame over a 10-seconds sliding window. After that, a series of signal processing techniques are implemented on the raw signals to recover the heart rate frequency. Finally, the resultant heart rate measurements are processed and stored, then we compare it with ground truth measurements values obtained using pulse oximeter.
{"title":"Improvement of Driverless Cars' Passengers on Board Health and Safety, using Low-Cost Real-Time Heart Rate Monitoring System","authors":"R. M. Fouad, A. Onsy, O. Omer","doi":"10.23919/IConAC.2018.8748986","DOIUrl":"https://doi.org/10.23919/IConAC.2018.8748986","url":null,"abstract":"In this work, a real-time unobtrusive heart rate monitoring system is proposed and implemented. The proposed system aims to monitor the heart rate of the passengers by using a low-cost camera, which can be readily embedded in the car's rear-view mirror. Additionally, we integrate this system with the main system of our test driverless car, and we propose how driverless cars should act in response to serious medical emergency situations. Moreover, we investigate how this system can benefit from the promising features of Google I/O and Google AI. Our approach is based on Remote Photoplethysmography (rPPG), in which the heart rate is extracted from the subtle tiny changes occurring in the skin color of the face during every pulsation. The face is automatically detected and tracked, then the raw signal is calculated from each frame over a 10-seconds sliding window. After that, a series of signal processing techniques are implemented on the raw signals to recover the heart rate frequency. Finally, the resultant heart rate measurements are processed and stored, then we compare it with ground truth measurements values obtained using pulse oximeter.","PeriodicalId":121030,"journal":{"name":"2018 24th International Conference on Automation and Computing (ICAC)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132457669","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.23919/IConAC.2018.8749080
E. Eze, J. Eze, Sijing Zhang, E. Liu
This paper studied the required amount of radio spectral resource enough to support timely and reliable vehicular communication via vehicular ad-hoc networks (VANETs). The study focused on both DSRC/WAVE and the European standard ITS-G5 that are based on recently approved IEEE 802.11p specification, which uses a simplified version of CSMA/CA as MAC protocol, and an STDMA MAC recently proposed by European Telecommunications Standards Institute (ETSI). The paper further carried out a feasibility analysis of radio spectrum requirement for timely and reliable vehicle-to-vehicle (V2V) communication. In the feasibility analysis, synchronized STDMA MAC is compared with the CSMA/CA MAC protocol, which 802.11p is based on. Message Reception Failure (MRF) probability is used as a performance metric to investigate and ascertain the minimum spectrum requirement for efficient, timely, and reliable V2V communication. Simulation results show that even at the same allocation of 10MHz channel bandwidth, STDMA MAC outperforms the CSMA/CA based MACs due to the fact that STDMA based MACs provide a structured shared medium access and prevent negative impact of unhealthy contention for shared channel access. The results further show that up to 40MHz channel bandwidth over 5.9GHz band would be required to guarantee optimal reliability of safety packets exchange in vehicular networks as opposed to 10MHz allocated in US.
{"title":"Spectrum Requirement for Efficient Wireless Communication over Vehicular Networks*","authors":"E. Eze, J. Eze, Sijing Zhang, E. Liu","doi":"10.23919/IConAC.2018.8749080","DOIUrl":"https://doi.org/10.23919/IConAC.2018.8749080","url":null,"abstract":"This paper studied the required amount of radio spectral resource enough to support timely and reliable vehicular communication via vehicular ad-hoc networks (VANETs). The study focused on both DSRC/WAVE and the European standard ITS-G5 that are based on recently approved IEEE 802.11p specification, which uses a simplified version of CSMA/CA as MAC protocol, and an STDMA MAC recently proposed by European Telecommunications Standards Institute (ETSI). The paper further carried out a feasibility analysis of radio spectrum requirement for timely and reliable vehicle-to-vehicle (V2V) communication. In the feasibility analysis, synchronized STDMA MAC is compared with the CSMA/CA MAC protocol, which 802.11p is based on. Message Reception Failure (MRF) probability is used as a performance metric to investigate and ascertain the minimum spectrum requirement for efficient, timely, and reliable V2V communication. Simulation results show that even at the same allocation of 10MHz channel bandwidth, STDMA MAC outperforms the CSMA/CA based MACs due to the fact that STDMA based MACs provide a structured shared medium access and prevent negative impact of unhealthy contention for shared channel access. The results further show that up to 40MHz channel bandwidth over 5.9GHz band would be required to guarantee optimal reliability of safety packets exchange in vehicular networks as opposed to 10MHz allocated in US.","PeriodicalId":121030,"journal":{"name":"2018 24th International Conference on Automation and Computing (ICAC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124351512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.23919/IConAC.2018.8749048
Yiming Jiang, Chenguang Yang, Zhaojie Ju, A. Annamalai, Honghai Liu
Robot control with a compliant motion behaviour is important to guarantee the safety of human robot interaction. In this paper, we aim to guarantee the desired task impedance of the end-effector and to ensure a compliant behaviour of a redundant robot during human robot interactions. A task space impedance control scheme is proposed by designing a transferred impedance error, such that the robot end-effector can be governed to follow a target impedance model. Additionally, a low-priority controller is designed using the null space projection, such that compliant joint motion is guaranteed without affecting the main task. The stability of the whole system is illustrated using a conditional Lyapunov theorem. Simulation studies based on a plane redundant robot is carried out to demonstrate the validity of the proposed controller.
{"title":"Compliant Impedance Control for a Redundant Manipulator During Human Robot Interaction","authors":"Yiming Jiang, Chenguang Yang, Zhaojie Ju, A. Annamalai, Honghai Liu","doi":"10.23919/IConAC.2018.8749048","DOIUrl":"https://doi.org/10.23919/IConAC.2018.8749048","url":null,"abstract":"Robot control with a compliant motion behaviour is important to guarantee the safety of human robot interaction. In this paper, we aim to guarantee the desired task impedance of the end-effector and to ensure a compliant behaviour of a redundant robot during human robot interactions. A task space impedance control scheme is proposed by designing a transferred impedance error, such that the robot end-effector can be governed to follow a target impedance model. Additionally, a low-priority controller is designed using the null space projection, such that compliant joint motion is guaranteed without affecting the main task. The stability of the whole system is illustrated using a conditional Lyapunov theorem. Simulation studies based on a plane redundant robot is carried out to demonstrate the validity of the proposed controller.","PeriodicalId":121030,"journal":{"name":"2018 24th International Conference on Automation and Computing (ICAC)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124409525","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.23919/IConAC.2018.8749051
Peng Yang, Jianjun Sun, Jie Wang, Gaowei Zhang, Yan Zhang, Lingling Chen, Tuo Wang
In this paper, a sliding mode control method based on nonlinear disturbance observer is developed for the wearable exoskeleton. Firstly, in order to guarantee the tracking performance, an extended seconded order disturbance observer is designed to estimate the unknown disturbance. Then, an exponential approach sliding mode control law is designed based on the estimated value of the disturbance observer, and the Lyapunov theory is applied to analysis the closed-loop stability. Finally, simulation results testify the effectiveness of the proposed method for the wearable exoskeleton in the presence of unknown disturbance.
{"title":"Sliding Mode Control for Wearable Exoskeleton based on Disturbance Observer","authors":"Peng Yang, Jianjun Sun, Jie Wang, Gaowei Zhang, Yan Zhang, Lingling Chen, Tuo Wang","doi":"10.23919/IConAC.2018.8749051","DOIUrl":"https://doi.org/10.23919/IConAC.2018.8749051","url":null,"abstract":"In this paper, a sliding mode control method based on nonlinear disturbance observer is developed for the wearable exoskeleton. Firstly, in order to guarantee the tracking performance, an extended seconded order disturbance observer is designed to estimate the unknown disturbance. Then, an exponential approach sliding mode control law is designed based on the estimated value of the disturbance observer, and the Lyapunov theory is applied to analysis the closed-loop stability. Finally, simulation results testify the effectiveness of the proposed method for the wearable exoskeleton in the presence of unknown disturbance.","PeriodicalId":121030,"journal":{"name":"2018 24th International Conference on Automation and Computing (ICAC)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114521989","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.23919/IConAC.2018.8749047
Chunling Hu, Gang Lv, Xiaofeng Wang
Both bucket elimination algorithm and junction tree reasoning algorithm are popular automated reasoning algorithms. In this paper, a new junction tree reasoning (JTR) algorithm is proposed to improve efficiency of message propagation through the junction tree. In addition, based on JTR algorithm and bucket elimination algorithm, a bucket-junction-tree reasoning (BJTR) algorithm is proposed to improve inefficiency of multi-task automated reasoning of classical bucket elimination(BE) algorithm. Compared with the homogenous bucket-tree elimination (BTE) algorithm, the proposed algorithm BJTR can effectively improve time performance while space performance decreases a little. Furthermore, compared with classical bucket elimination algorithm, BJTR effectively improves time performance with a slightly lower space performance for multi-task automated reasoning. Finally, both examples and experiments demonstrate that BJTR algorithm can effectively improve time performance for multi-task reasoning.
{"title":"A Bucket-Tree Based Algorithm for Automated Reasoning","authors":"Chunling Hu, Gang Lv, Xiaofeng Wang","doi":"10.23919/IConAC.2018.8749047","DOIUrl":"https://doi.org/10.23919/IConAC.2018.8749047","url":null,"abstract":"Both bucket elimination algorithm and junction tree reasoning algorithm are popular automated reasoning algorithms. In this paper, a new junction tree reasoning (JTR) algorithm is proposed to improve efficiency of message propagation through the junction tree. In addition, based on JTR algorithm and bucket elimination algorithm, a bucket-junction-tree reasoning (BJTR) algorithm is proposed to improve inefficiency of multi-task automated reasoning of classical bucket elimination(BE) algorithm. Compared with the homogenous bucket-tree elimination (BTE) algorithm, the proposed algorithm BJTR can effectively improve time performance while space performance decreases a little. Furthermore, compared with classical bucket elimination algorithm, BJTR effectively improves time performance with a slightly lower space performance for multi-task automated reasoning. Finally, both examples and experiments demonstrate that BJTR algorithm can effectively improve time performance for multi-task reasoning.","PeriodicalId":121030,"journal":{"name":"2018 24th International Conference on Automation and Computing (ICAC)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121928001","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.23919/IConAC.2018.8749024
Maham Qayyum, Wajeeha Hamid, M. A. Shah
Snort is an intrusion detection system which operates together with a firewall and is an important part of the network security systems. Snort performance decreases as the traffic on the network increases. To handle packet loss, some load balancing techniques are used. In this paper, we implement Snort a network function virtualization (NFV). The objective is to reduce the packet loss in case of higher traffic flows. In our research we have implemented snort as Virtual Network Function (VNF). The proposed research is implemented, and different experiments are carried out. The results show that packet loss can be controlled by implementing Snort as VNF.
{"title":"Performance Analysis of Snort using Network Function Virtualization","authors":"Maham Qayyum, Wajeeha Hamid, M. A. Shah","doi":"10.23919/IConAC.2018.8749024","DOIUrl":"https://doi.org/10.23919/IConAC.2018.8749024","url":null,"abstract":"Snort is an intrusion detection system which operates together with a firewall and is an important part of the network security systems. Snort performance decreases as the traffic on the network increases. To handle packet loss, some load balancing techniques are used. In this paper, we implement Snort a network function virtualization (NFV). The objective is to reduce the packet loss in case of higher traffic flows. In our research we have implemented snort as Virtual Network Function (VNF). The proposed research is implemented, and different experiments are carried out. The results show that packet loss can be controlled by implementing Snort as VNF.","PeriodicalId":121030,"journal":{"name":"2018 24th International Conference on Automation and Computing (ICAC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122182411","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.23919/IConAC.2018.8749005
Yiming Tian, Xitai Wang, Peng Yang, Jie Wang, Jie Zhang
Human activity recognition (HAR) based on sensors has been widely used in many fields. Instead of using multi-sensor system which is not convenient in practical applications and requires high computational cost, this paper utilizes a single wearable accelerometer to collect human activity information. In order to improve the recognition performance of the whole system and select the features that are most relevant to the wearing position of sensor, the wavelet decomposition-based features and a novel feature selection method are introduced. Considering the limitation of single filter feature selection method, this paper proposes an ensemble-based filter feature selection (EFFS) approach to optimize the feature set. Experiment results show that the wavelet decomposition-based features can increase the discrimination of activities and significantly and improve the activity recognition accuracy. Compared with other four popular feature selection methods, the proposed EFFS approach provides higher accuracy with fewer features.
{"title":"A Single Accelerometer-based Robust Human Activity Recognition via Wavelet Features and Ensemble Feature Selection","authors":"Yiming Tian, Xitai Wang, Peng Yang, Jie Wang, Jie Zhang","doi":"10.23919/IConAC.2018.8749005","DOIUrl":"https://doi.org/10.23919/IConAC.2018.8749005","url":null,"abstract":"Human activity recognition (HAR) based on sensors has been widely used in many fields. Instead of using multi-sensor system which is not convenient in practical applications and requires high computational cost, this paper utilizes a single wearable accelerometer to collect human activity information. In order to improve the recognition performance of the whole system and select the features that are most relevant to the wearing position of sensor, the wavelet decomposition-based features and a novel feature selection method are introduced. Considering the limitation of single filter feature selection method, this paper proposes an ensemble-based filter feature selection (EFFS) approach to optimize the feature set. Experiment results show that the wavelet decomposition-based features can increase the discrimination of activities and significantly and improve the activity recognition accuracy. Compared with other four popular feature selection methods, the proposed EFFS approach provides higher accuracy with fewer features.","PeriodicalId":121030,"journal":{"name":"2018 24th International Conference on Automation and Computing (ICAC)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125760877","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-09-01DOI: 10.23919/IConAC.2018.8749004
Shadi M. Saleh, Sinan A. Khwandah, W. Hardt, Marcus Hilbrich, P. Lazaridis
Perception is an essential procedure for intelligent vehicles where the safety issue is the most critical one. Usually, the perceptual approach is constructed based on measurements received from multiple sensors such as (Radar, and LiDAR) in order to model the immediate driving environment for autonomous vehicles navigation. These sensors are often limited and uncertain in providing visual information in any weather condition and they are expensive. Furthermore, they require intensive calculations. Therefore, they can't be easily processed online. The aim of this study is to provide a solution based on the low-cost, light, and low-power stereo camera. The proposed solution focuses on the spatial information about the driving environment which is represented as a 3D point cloud. These post-processed points are projected on the 2D rectangle grid and divided into identical square cells. Each cell is holding information about the 3D points that lie over it and this created what is called a height map. In the same time, a confidence map is built to reduce and discard scattered points because the produced 3D point cloud is noisy. Finally, an occlusion map is constructed to estimate the status of each cell as a border, free or occluded.
{"title":"Estimating the 2D Static Map Based on Moving Stereo Camera","authors":"Shadi M. Saleh, Sinan A. Khwandah, W. Hardt, Marcus Hilbrich, P. Lazaridis","doi":"10.23919/IConAC.2018.8749004","DOIUrl":"https://doi.org/10.23919/IConAC.2018.8749004","url":null,"abstract":"Perception is an essential procedure for intelligent vehicles where the safety issue is the most critical one. Usually, the perceptual approach is constructed based on measurements received from multiple sensors such as (Radar, and LiDAR) in order to model the immediate driving environment for autonomous vehicles navigation. These sensors are often limited and uncertain in providing visual information in any weather condition and they are expensive. Furthermore, they require intensive calculations. Therefore, they can't be easily processed online. The aim of this study is to provide a solution based on the low-cost, light, and low-power stereo camera. The proposed solution focuses on the spatial information about the driving environment which is represented as a 3D point cloud. These post-processed points are projected on the 2D rectangle grid and divided into identical square cells. Each cell is holding information about the 3D points that lie over it and this created what is called a height map. In the same time, a confidence map is built to reduce and discard scattered points because the produced 3D point cloud is noisy. Finally, an occlusion map is constructed to estimate the status of each cell as a border, free or occluded.","PeriodicalId":121030,"journal":{"name":"2018 24th International Conference on Automation and Computing (ICAC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127859703","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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