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Wonje Jang Junhyuk Hyun Jhonghyun An Minho Cho Euntai Kim 《IEEE/CAA Journal of Automatica Sinica》2022,9(1):187-204
The essential requirement for precise localization of a self-driving car is a lane-level map which includes road markings (RMs). Obviously, we can build the lane-level map by running a mobile mapping system (MMS) which is equipped with a high-end 3D LiDAR and a number of high-cost sensors. This approach, however, is highly expensive and ineffective since a single high-end MMS must visit every place for mapping. In this paper, a lane-level RM mapping system using a monocular camera is developed. The developed system can be considered as an alternative to expensive high-end MMS. The developed RM map includes the information of road lanes (RLs) and symbolic road markings (SRMs). First, to build a lane-level RM map, the RMs are segmented at pixel level through the deep learning network. The network is named RMNet. The segmented RMs are then gathered to build a lane-level RM map. Second, the lane-level map is improved through loop-closure detection and graph optimization. To train the RMNet and build a lane-level RM map, a new dataset named SeRM set is developed. The set is a large dataset for lane-level RM mapping and it includes a total of 25157 pixel-wise annotated images and 21000 position labeled images. Finally, the proposed lane-level map building method is applied to SeRM set and its validity is demonstrated through experimentation. 相似文献
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Miroslav Kárný Marko Ruman 《International Journal of Adaptive Control and Signal Processing》2021,35(5):660-675
Any knowledge extraction relies (possibly implicitly) on a hypothesis about the modelled-data dependence. The extracted knowledge ultimately serves to a decision-making (DM). DM always faces uncertainty and this makes probabilistic modelling adequate. The inspected black-box modeling deals with “universal” approximators of the relevant probabilistic model. Finite mixtures with components in the exponential family are often exploited. Their attractiveness stems from their flexibility, the cluster interpretability of components and the existence of algorithms for processing high-dimensional data streams. They are even used in dynamic cases with mutually dependent data records while regression and auto-regression mixture components serve to the dependence modeling. These dynamic models, however, mostly assume data-independent component weights, that is, memoryless transitions between dynamic mixture components. Such mixtures are not universal approximators of dynamic probabilistic models. Formally, this follows from the fact that the set of finite probabilistic mixtures is not closed with respect to the conditioning, which is the key estimation and predictive operation. The paper overcomes this drawback by using ratios of finite mixtures as universally approximating dynamic parametric models. The paper motivates them, elaborates their approximate Bayesian recursive estimation and reveals their application potential. 相似文献
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This article develops practical methods for Bayesian inference in the autoregressive fractionally integrated moving average (ARFIMA) model using the exact likelihood function, any proper prior distribution, and time series that may have thousands of observations. These methods utilize sequentially adaptive Bayesian learning, a sequential Monte Carlo algorithm that can exploit massively parallel desktop computing with graphics processing units (GPUs). The article identifies and solves several problems in the computation of the likelihood function that apparently have not been addressed in the literature. Four applications illustrate the utility of the approach. The most ambitious is an ARFIMA(2,d,2) model for the Campito tree ring time series (length 5405), for which the methods developed in the article provide an essentially uncorrelated sample of size 16,384 from the exact posterior distribution in under four hours. Less ambitious applications take as little as 4 minutes without exploiting GPUs. 相似文献
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The ordered weighted averaging (OWA) operators play a crucial role in aggregating multiple criteria evaluations into an overall assessment supporting the decision makers’ choice. One key point steps is to determine the associated weights. In this paper, we first briefly review some main methods for determining the weights by using distribution functions. Then we propose a new approach for determining OWA weights by using the regular increasing monotone quantifier. Motivated by the idea of normal distribution-based method to determine the OWA weights, we develop a method based on elliptical distributions for determining the OWA weights, and some of its desirable properties have been investigated. 相似文献
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In multicriteria decision-making (MCDM), the existing aggregation operators are mostly based on algebraic t-conorm and t-norm. But, Archimedean t-conorms and t-norms are the generalized forms of t-conorms and t-norms which include algebraic, Einstein, Hamacher, Frank, and other types of t-conorms and t-norms. From that view point, in this paper the concepts of Archimedean t-conorm and t-norm are introduced to aggregate Pythagorean hesitant fuzzy information. Some new operational laws for Pythagorean hesitant fuzzy numbers based on Archimedean t-conorm and t-norm have been proposed. Using those operational laws, Archimedean t-conorm and t-norm-based Pythagorean hesitant fuzzy weighted averaging operator and weighted geometric operator are developed. Some of their desirable properties have also been investigated. Afterwards, these operators are applied to solve MCDM problems in Pythagorean hesitant fuzzy environment. The developed Archimedean aggregation operators are also applicable in Pythagorean fuzzy contexts also. To demonstrate the validity, practicality, and effectiveness of the proposed method, a practical problem is considered, solved, and compared with other existing method. 相似文献
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Paul-Baptiste Rubio François Louf Ludovic Chamoin 《International journal for numerical methods in engineering》2019,120(4):447-472
The motivation of this work is to address real-time sequential inference of parameters with a full Bayesian formulation. First, the proper generalized decomposition (PGD) is used to reduce the computational evaluation of the posterior density in the online phase. Second, Transport Map sampling is used to build a deterministic coupling between a reference measure and the posterior measure. The determination of the transport maps involves the solution of a minimization problem. As the PGD model is quasi-analytical and under a variable separation form, the use of gradient and Hessian information speeds up the minimization algorithm. Eventually, uncertainty quantification on outputs of interest of the model can be easily performed due to the global feature of the PGD solution over all coordinate domains. Numerical examples highlight the performance of the method. 相似文献