Related papers: Output-only road roughness identification from veh…
Unmanned surface vehicles (USVs) and boats are increasingly important in maritime operations, yet their deployment is limited due to costly sensors and complexity. LiDAR, radar, and depth cameras are either costly, yield sparse point clouds…
This paper investigates a new application of vehicular sensing: detecting and reporting the slippery road conditions. We describe a system and associated algorithm to monitor vehicle skidding events using smartphones and OBD-II (On board…
Small-sized unmanned surface vehicles (USV) are coastal water devices with a broad range of applications such as environmental control and surveillance. A crucial capability for autonomous operation is obstacle detection for timely reaction…
Accurate roadway travel-time prediction is foundational to transportation systems analysis, yet widespread reliance on either data-intensive congestion models or overly na\"ive heuristics limits scalability and practical adoption in…
Novel experimental modalities acquire spatially resolved velocity measurements for steady state and transient flows which are of interest for engineering and biological applications. One of the drawbacks of such high resolution velocity…
This paper presents a novel approach to vehicle positioning that operates without reliance on the global navigation satellite system (GNSS). Traditional GNSS approaches are vulnerable to interference in certain environments, rendering them…
Smoothing is widely used approach for measurement noise reduction in spectral analysis. However, it suffers from signal distortion caused by peak suppression. A locally self-adjustive smoothing method is developed that retains sharp peaks…
The autocovariance least squares (ALS) method is a computationally efficient approach for estimating noise covariances in Kalman filters without requiring specific noise models. However, conventional ALS and its variants rely on the classic…
This paper presents three batch estimation methods that use noisy ground velocity and heading measurements from a vehicle executing a circular orbit (or similar large heading change maneuver) to estimate the speed and direction of a steady,…
Trajectory Reconstruction (TR) is vital for accurately mapping movement patterns and validating analyses, especially in fields like robotics, biomechanics, and environmental tracking, where data might be missing or affected by outliers.…
Smoothing is a specialized form of Bayesian inference for state-space models that characterizes the posterior distribution of a collection of states given an associated sequence of observations. Ramgraber et al. (2023) proposes a general…
Autonomous vehicles can enhance overall performance and implement safety measures in ways that are impossible with conventional automobiles. These functions are executed through vehicle control systems, which have been the subject of…
This paper presents crash rate benchmarks for evaluating US-based Automated Driving Systems (ADS) for multiple urban areas. The purpose of this study was to extend prior benchmarks focused only on surface streets to additionally capture…
According to the requirement of general static obstacle detection, this paper proposes a compact vectorization representation approach of local static environments for unmanned ground vehicles. At first, by fusing the data of LiDAR and IMU,…
Automated f ault detection and monitoring in engineering are critical but frequently difficult owing to the necessity for collecting and labeling large amounts of defective samples . We present an unsupervised method that uses the high end…
In this paper, we demonstrate a proof of concept for characterizing vehicular behavior using only the roadside cameras of the ITS system. The essential advantage of this method is that it can be implemented in the roadside infrastructure…
We propose a novel approach to video anomaly detection: we treat feature vectors extracted from videos as realizations of a random variable with a fixed distribution and model this distribution with a neural network. This lets us estimate…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
We test methods for measuring and characterizing rough profiles with emphasis on measurements of the self-affine roughness exponent, and describes a simple test to separate between roughness exponents originating from long range…
Operating autonomous vehicles at the absolute limits of handling requires precise, real-time identification of highly non-linear tire dynamics. However, traditional online optimization methods suffer from "cold-start" initialization…