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Author |
Miguel Realpe; Boris X. Vintimilla; Ljubo Vlacic |
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Title |
Multi-sensor Fusion Module in a Fault Tolerant Perception System for Autonomous Vehicles |
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Journal Article |
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2016 |
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Journal of Automation and Control Engineering (JOACE) |
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Vol. 4 |
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pp. 430-436 |
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Fault Tolerance, Data Fusion, Multi-sensor Fusion, Autonomous Vehicles, Perception System |
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Abstract |
Driverless vehicles are currently being tested on public roads in order to examine their ability to perform in a safe and reliable way in real world situations. However, the long-term reliable operation of a vehicle’s diverse sensors and the effects of potential sensor faults in the vehicle system have not been tested yet. This paper is proposing a sensor fusion architecture that minimizes the influence of a sensor fault. Experimental results are presented simulating faults by introducing displacements in the sensor information from the KITTI dataset. |
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cidis @ cidis @ |
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51 |
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Author |
Miguel Realpe; Boris X. Vintimilla; Ljubo Vlacic |
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Title |
A Fault Tolerant Perception system for autonomous vehicles |
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Conference Article |
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Year |
2016 |
Publication |
35th Chinese Control Conference (CCC2016), International Conference on, Chengdu |
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1-6 |
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Keywords |
Fault Tolerant Perception, Sensor Data Fusion, Fault Tolerance, Autonomous Vehicles, Federated Architecture |
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Abstract |
Driverless vehicles are currently being tested on public roads in order to examine their ability to perform in a safe and reliable way in real world situations. However, the long-term reliable operation of a vehicle’s diverse sensors and the effects of potential sensor faults in the vehicle system have not been tested yet. This paper is proposing a sensor fusion architecture that minimizes the influence of a sensor fault. Experimental results are presented simulating faults by introducing displacements in the sensor information from the KITTI dataset. |
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English |
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cidis @ cidis @ |
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52 |
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Author |
Angel D. Sappa; Cristhian A. Aguilera; Juan A. Carvajal Ayala; Miguel Oliveira; Dennis Romero; Boris X. Vintimilla; Ricardo Toledo |
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Title |
Monocular visual odometry: a cross-spectral image fusion based approach |
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Journal Article |
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2016 |
Publication |
Robotics and Autonomous Systems Journal |
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Vol. 86 |
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pp. 26-36 |
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Monocular visual odometry LWIR-RGB cross-spectral imaging Image fusion |
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This manuscript evaluates the usage of fused cross-spectral images in a monocular visual odometry approach. Fused images are obtained through a Discrete Wavelet Transform (DWT) scheme, where the best setup is em- pirically obtained by means of a mutual information based evaluation met- ric. The objective is to have a exible scheme where fusion parameters are adapted according to the characteristics of the given images. Visual odom- etry is computed from the fused monocular images using an off the shelf approach. Experimental results using data sets obtained with two different platforms are presented. Additionally, comparison with a previous approach as well as with monocular-visible/infrared spectra are also provided showing the advantages of the proposed scheme. |
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cidis @ cidis @ |
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54 |
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Author |
Angely Oyola; Dennis G. Romero; Boris X. Vintimilla |
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Title |
A Dijkstra-based algorithm for selecting the Shortest-Safe Evacuation Routes in dynamic environments (SSER) |
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Conference Article |
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2017 |
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The 30th International Conference on Industrial, Engineering, Other Applications of Applied Intelligent Systems (IEA/AIE 2017) |
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131-135 |
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cidis @ cidis @ |
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55 |
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