A method to detect traffic dangers based on visual attention model of sparse sampling was proposed. The hemispherical sparse sampling model was used to decrease the amount of calculation which increases the detection ...A method to detect traffic dangers based on visual attention model of sparse sampling was proposed. The hemispherical sparse sampling model was used to decrease the amount of calculation which increases the detection speed. Bayesian probability model and Gaussian kernel function were applied to calculate the saliency of traffic videos. The method of multiscale saliency was used and the final saliency was the average of all scales, which increased the detection rates extraordinarily. The detection results of several typical traffic dangers show that the proposed method has higher detection rates and speed, which meets the requirement of real-time detection of traffic dangers.展开更多
A great number of visual simultaneous localization and mapping(VSLAM)systems need to assume static features in the environment.However,moving objects can vastly impair the performance of a VSLAM system which relies on...A great number of visual simultaneous localization and mapping(VSLAM)systems need to assume static features in the environment.However,moving objects can vastly impair the performance of a VSLAM system which relies on the static-world assumption.To cope with this challenging topic,a real-time and robust VSLAM system based on ORB-SLAM2 for dynamic environments was proposed.To reduce the influence of dynamic content,we incorporate the deep-learning-based object detection method in the visual odometry,then the dynamic object probability model is added to raise the efficiency of object detection deep neural network and enhance the real-time performance of our system.Experiment with both on the TUM and KITTI benchmark dataset,as well as in a real-world environment,the results clarify that our method can significantly reduce the tracking error or drift,enhance the robustness,accuracy and stability of the VSLAM system in dynamic scenes.展开更多
Although extensive analyses of road segments and intersections located in urban road networks have examined the role of many factors that contribute to the frequency and severity of crashes, the explicit relationship ...Although extensive analyses of road segments and intersections located in urban road networks have examined the role of many factors that contribute to the frequency and severity of crashes, the explicit relationship between street pattern characteristics and traffic safety remains underexplored. Based on a zone-based Hong Kong database, the Space Syntax was used to quantify the topological characteristics of street patterns and investigate the role of street patterns and zone-related factors in zone-based traffic safety analysis. A joint probability model was adopted to analyze crash frequency and severity in an integrated modeling framework and the maximum likelihood estimation method was used to estimate the parameters. In addition to the characteristics of street patterns, speed, road geometry, land-use patterns, and temporal factors were considered. The vehicle hours was also included as an exposure proxy in the model to make crash frequency predictions. The results indicate that the joint probability model can reveal the relationship between zone-based traffic safety and various other factors, and that street pattern characteristics play an important role in crash frequency prediction.展开更多
基金Project(50808025)supported by the National Natural Science Foundation of ChinaProject(20090162110057)supported by the Doctoral Fund of Ministry of Education of China
文摘A method to detect traffic dangers based on visual attention model of sparse sampling was proposed. The hemispherical sparse sampling model was used to decrease the amount of calculation which increases the detection speed. Bayesian probability model and Gaussian kernel function were applied to calculate the saliency of traffic videos. The method of multiscale saliency was used and the final saliency was the average of all scales, which increased the detection rates extraordinarily. The detection results of several typical traffic dangers show that the proposed method has higher detection rates and speed, which meets the requirement of real-time detection of traffic dangers.
基金the National Natural Science Foundation of China(No.61671470).
文摘A great number of visual simultaneous localization and mapping(VSLAM)systems need to assume static features in the environment.However,moving objects can vastly impair the performance of a VSLAM system which relies on the static-world assumption.To cope with this challenging topic,a real-time and robust VSLAM system based on ORB-SLAM2 for dynamic environments was proposed.To reduce the influence of dynamic content,we incorporate the deep-learning-based object detection method in the visual odometry,then the dynamic object probability model is added to raise the efficiency of object detection deep neural network and enhance the real-time performance of our system.Experiment with both on the TUM and KITTI benchmark dataset,as well as in a real-world environment,the results clarify that our method can significantly reduce the tracking error or drift,enhance the robustness,accuracy and stability of the VSLAM system in dynamic scenes.
基金Project(71301083)supported by the National Natural Science Foundation of ChinaProject(2012AA112305)supported by the National High-Tech Research and Development Program of China+1 种基金Project(2012CB725405)supported by the National Basic Research Program of ChinaProject(17208614)supported by the Research Grants Council of the Hong Kong Special Administrative Region,China
文摘Although extensive analyses of road segments and intersections located in urban road networks have examined the role of many factors that contribute to the frequency and severity of crashes, the explicit relationship between street pattern characteristics and traffic safety remains underexplored. Based on a zone-based Hong Kong database, the Space Syntax was used to quantify the topological characteristics of street patterns and investigate the role of street patterns and zone-related factors in zone-based traffic safety analysis. A joint probability model was adopted to analyze crash frequency and severity in an integrated modeling framework and the maximum likelihood estimation method was used to estimate the parameters. In addition to the characteristics of street patterns, speed, road geometry, land-use patterns, and temporal factors were considered. The vehicle hours was also included as an exposure proxy in the model to make crash frequency predictions. The results indicate that the joint probability model can reveal the relationship between zone-based traffic safety and various other factors, and that street pattern characteristics play an important role in crash frequency prediction.
