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Titre : A world model enabling information integrity for autonomous vehicles Type de document : Thèse/HDR Auteurs : Corentin Sanchez, Auteur ; Philippe Bonnifait, Directeur de thèse ; Philippe Xu, Directeur de thèse Editeur : Compiègne : Université de Technologie de Compiègne UTC Année de publication : 2022 Importance : 198 p. Format : 21 x 30 cm Note générale : Bibliographie
Thèse de Doctorat de l'Université de Technologie de Compiègne, Spécialité Automatique et RobotiqueLangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Intelligence artificielle
[Termes IGN] attention (apprentissage automatique)
[Termes IGN] carte routière
[Termes IGN] données multisources
[Termes IGN] information sémantique
[Termes IGN] intégrité des données
[Termes IGN] milieu urbain
[Termes IGN] navigation autonome
[Termes IGN] raisonnement
[Termes IGN] réseau routier
[Termes IGN] robot mobile
[Termes IGN] sécurité routière
[Termes IGN] véhicule sans pilote
[Termes IGN] vision par ordinateurIndex. décimale : THESE Thèses et HDR Résumé : (auteur) To drive in complex urban environments, autonomous vehicles need to understand their driving context. This task, also known as the situation awareness, relies on an internal virtual representation of the world made by the vehicle, called world model. This representation is generally built from information provided by multiple sources. High definition navigation maps supply prior information such as road network topology, geometric description of the carriageway, and semantic information including traffic laws. The perception system provides a description of the space and of road users evolving in the vehicle surroundings. Conjointly, they provide representations of the environment (static and dynamic) and allow to model interactions. In complex situations, a reliable and non-misleading world model is mandatory to avoid inappropriate decision-making and to ensure safety. The goal of this PhD thesis is to propose a novel formalism on the concept of world model that fulfills the situation awareness requirements for an autonomous vehicle. This world model integrates prior knowledge on the road network topology, a lane-level grid representation, its prediction over time and more importantly a mechanism to control and monitor the integrity of information. The concept of world model is present in many autonomous vehicle architectures but may take many various forms and sometimes only implicitly. In some work, it is part of the perception process when in some other it is part of a decisionmaking process. The first contribution of this thesis is a survey on the concept of world model for autonomous driving covering different levels of abstraction for information representation and reasoning. Then, a novel representation is proposed for the world model at the tactical level combining dynamic objects and spatial occupancy information. First, a graph based top-down approach using a high-definition map is proposed to extract the areas of interests with respect to the situation from the vehicle's perspective. It is then used to build a Lane Grid Map (LGM), which is an intermediate space state representation from the ego-vehicle point of view. A top-down approach is chosen to assess and characterize the relevant information of the situation. Additionally to classical free-occupied states, the unknown state is further characterized by the notions of neutralized and safe areas that provide a deeper level of understanding of the situation. Another contribution to the world model is an integrity management mechanism that is built upon the LGM representation. It consists in managing the spatial sampling of the grid cells in order to take into account localization and perception errors and to avoid misleading information. Regardless of the confidence on localization and perception information, the LGM is capable of providing reliable information to decision making in order not to take hazardous decisions.The last part of the situation awareness strategy is the prediction of the world model based on the LGM representation. The main contribution is to show how a classical object-level prediction fits this representation and that the integrity can also be extended at the prediction stage. It is also depicted how a neutralized area can be used in the prediction stage to provide a better situation prediction. The work relies on experimental data in order to demonstrate a real application of a complex situation awareness representation. The approach is evaluated with real data obtained thanks to several experimental vehicles equipped with LiDAR sensors and IMU with RTK corrections in the city of Compi_egne. A high-definition map has also been used in the framework of the SIVALab joint laboratory between Renault and Heudiasyc CNRS-UTC. The world model module has been implemented (with ROS software) in order to fulfll real-time application and is functional on the experimental vehicles for live demonstrations. Note de contenu : General introduction
1- World model for autonomous vehicules
2- An architecture for WM
3- A lane level world model
4- Set-based LGM prediction
General conclusionNuméro de notice : 24089 Affiliation des auteurs : non IGN Thématique : INFORMATIQUE Nature : Thèse française Note de thèse : Thèse de Doctorat : Automatique et Robotique : UTC Compiègne : 2022 Organisme de stage : Laboratoire Heudiasyc DOI : sans En ligne : https://www.theses.fr/2022COMP2683 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102509 A deep multi-modal learning method and a new RGB-depth data set for building roof extraction / Mehdi Khoshboresh Masouleh in Photogrammetric Engineering & Remote Sensing, PERS, vol 87 n° 10 (October 2021)
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Titre : A deep multi-modal learning method and a new RGB-depth data set for building roof extraction Type de document : Article/Communication Auteurs : Mehdi Khoshboresh Masouleh, Auteur ; Reza Shah-Hosseini, Auteur Année de publication : 2021 Article en page(s) : pp 759 - 766 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique
[Termes IGN] apprentissage automatique
[Termes IGN] détection du bâti
[Termes IGN] données multisources
[Termes IGN] effet de profondeur cinétique
[Termes IGN] empreinte
[Termes IGN] extraction automatique
[Termes IGN] extraction de traits caractéristiques
[Termes IGN] image RVB
[Termes IGN] Indiana (Etats-Unis)
[Termes IGN] réseau neuronal convolutif
[Termes IGN] réseau neuronal profond
[Termes IGN] segmentation d'image
[Termes IGN] superpixel
[Termes IGN] toitRésumé : (Auteur) This study focuses on tackling the challenge of building mapping in multi-modal remote sensing data by proposing a novel, deep superpixel-wise convolutional neural network called DeepQuantized-Net, plus a new red, green, blue (RGB)-depth data set named IND. DeepQuantized-Net incorporated two practical ideas in segmentation: first, improving the object pattern with the exploitation of superpixels instead of pixels, as the imaging unit in DeepQuantized-Net. Second, the reduction of computational cost. The generated data set includes 294 RGB-depth images (256 training images and 38 test images) from different locations in the state of Indiana in the U.S., with 1024 × 1024 pixels and a spatial resolution of 0.5 ftthat covers different cities. The experimental results using the IND data set demonstrates the mean F1 scores and the average Intersection over Union scores could increase by approximately 7.0% and 7.2% compared to other methods, respectively. Numéro de notice : A2021-677 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.14358/PERS.21-00007R2 Date de publication en ligne : 01/10/2021 En ligne : https://doi.org/10.14358/PERS.21-00007R2 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=98878
in Photogrammetric Engineering & Remote Sensing, PERS > vol 87 n° 10 (October 2021) . - pp 759 - 766[article]Réservation
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Code-barres Cote Support Localisation Section Disponibilité 105-2021101 SL Revue Centre de documentation Revues en salle Disponible Mapping essential urban land use categories with open big data: Results for five metropolitan areas in the United States of America / Bin Chen in ISPRS Journal of photogrammetry and remote sensing, vol 178 (August 2021)
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Titre : Mapping essential urban land use categories with open big data: Results for five metropolitan areas in the United States of America Type de document : Article/Communication Auteurs : Bin Chen, Auteur ; Ying Tu, Auteur ; Yimeng Song, Auteur ; et al., Auteur Année de publication : 2021 Article en page(s) : pp 203 - 218 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications de télédétection
[Termes IGN] algorithme d'apprentissage
[Termes IGN] carte d'utilisation du sol
[Termes IGN] données massives
[Termes IGN] données multisources
[Termes IGN] Etats-Unis
[Termes IGN] extraction de traits caractéristiques
[Termes IGN] image Sentinel-MSI
[Termes IGN] image Sentinel-SAR
[Termes IGN] métropole
[Termes IGN] OpenStreetMap
[Termes IGN] planification urbaine
[Termes IGN] zone urbaineRésumé : (auteur) Urban land-use maps outlining the distribution, pattern, and composition of various land use types are critically important for urban planning, environmental management, disaster control, health protection, and biodiversity conservation. Recent advances in remote sensing and social sensing data and methods have shown great potentials in mapping urban land use categories, but they are still constrained by mixed land uses, limited predictors, non-localized models, and often relatively low accuracies. To inform these issues, we proposed a robust and cost-effective framework for mapping urban land use categories using openly available multi-source geospatial “big data”. With street blocks generated from OpenStreetMap (OSM) data as the minimum classification unit, we integrated an expansive set of multi-scale spatially explicit information on land surface, vertical height, socio-economic attributes, social media, demography, and topography. We further proposed to apply the automatic ensemble learning that leverages a bunch of machine learning algorithms in deriving optimal urban land use classification maps. Results of block-level urban land use classification in five metropolitan areas of the United States found the overall accuracies of major-class (Level-I) and minor-class (Level-II) classification could be high as 91% and 86%, respectively. A multi-model comparison revealed that for urban land use classification with high-dimensional features, the multi-layer stacking ensemble models achieved better performance than base models such as random forest, extremely randomized trees, LightGBM, CatBoost, and neural networks. We found without very-high-resolution National Agriculture Imagery Program imagery, the classification results derived from Sentinel-1, Sentinel-2, and other open big data based features could achieve plausible overall accuracies of Level-I and Level-II classification at 88% and 81%, respectively. We also found that model transferability depended highly on the heterogeneity in characteristics of different regions. The methods and findings in this study systematically elucidate the role of data sources, classification methods, and feature transferability in block-level land use classifications, which have important implications for mapping multi-scale essential urban land use categories. Numéro de notice : A2021-564 Affiliation des auteurs : non IGN Thématique : IMAGERIE/URBANISME Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.isprsjprs.2021.06.010 Date de publication en ligne : 25/06/2021 En ligne : https://doi.org/10.1016/j.isprsjprs.2021.06.010 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=98129
in ISPRS Journal of photogrammetry and remote sensing > vol 178 (August 2021) . - pp 203 - 218[article]Réservation
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Code-barres Cote Support Localisation Section Disponibilité 081-2021081 SL Revue Centre de documentation Revues en salle Disponible 081-2021083 DEP-RECP Revue LASTIG Dépôt en unité Exclu du prêt 081-2021082 DEP-RECF Revue Nancy Dépôt en unité Exclu du prêt Surface modelling of forest aboveground biomass based on remote sensing and forest inventory data / Xiaofang Sun in Geocarto international, vol 36 n° 14 ([01/08/2021])
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Titre : Surface modelling of forest aboveground biomass based on remote sensing and forest inventory data Type de document : Article/Communication Auteurs : Xiaofang Sun, Auteur ; Bai Li, Auteur ; Zhengping Du, Auteur ; et al., Auteur Année de publication : 2021 Article en page(s) : pp 1549 - 1564 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications photogrammétriques
[Termes IGN] biomasse aérienne
[Termes IGN] biomasse forestière
[Termes IGN] carbone
[Termes IGN] carte de la végétation
[Termes IGN] classification barycentrique
[Termes IGN] classification par forêts d'arbres décisionnels
[Termes IGN] classification par séparateurs à vaste marge
[Termes IGN] données ICEsat
[Termes IGN] données lidar
[Termes IGN] données multisources
[Termes IGN] Geoscience Laser Altimeter System
[Termes IGN] image Terra-MODIS
[Termes IGN] inventaire forestier étranger (données)
[Termes IGN] Kiangsi (Chine)
[Termes IGN] krigeage
[Termes IGN] modèle numérique de surface
[Termes IGN] Normalized Difference Vegetation Index
[Termes IGN] régression des moindres carrés partielsRésumé : (auteur) An accurate estimation of forest aboveground biomass (AGB) is important for carbon accounting. In this study, six methods, including partial least squares regression, regression kriging, k-nearest neighbour, support vector machines, random forest and high accuracy surface modelling (HASM), were used to simulate forest AGB. Forest AGB was mapped by combining Geoscience Laser Altimeter System data, optical imagery and field inventory data. The Normalized Difference Vegetation Index (NDVI) and Wide Dynamic Range Vegetation Index (WDRVI0.2) of September and October, which had a stronger correlation with forest AGB than that of the peak growing season, were selected as predictor variables, along with tree cover percentage and three GLAS-derived parameters. The results of the different methods were evaluated. The HASM model had the best modelling accuracy (small MAE, RMSE, NRMSE, RMSV and NMSE and large R2). A forest AGB map of the study area was generated using the optimal model. Numéro de notice : A2021-555 Affiliation des auteurs : non IGN Thématique : FORET/IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1080/10106049.2019.1655799 Date de publication en ligne : 28/08/2019 En ligne : https://doi.org/10.1080/10106049.2019.1655799 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=98108
in Geocarto international > vol 36 n° 14 [01/08/2021] . - pp 1549 - 1564[article]Multi-modal learning in photogrammetry and remote sensing / Michael Ying Yang in ISPRS Journal of photogrammetry and remote sensing, vol 176 (June 2021)
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Titre : Multi-modal learning in photogrammetry and remote sensing Type de document : Article/Communication Auteurs : Michael Ying Yang, Auteur ; Loïc Landrieu , Auteur ; Devis Tuia, Auteur ; Charles Toth, Auteur Année de publication : 2021 Projets : 1-Pas de projet / Article en page(s) : pp 54 - 54 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Télédétection
[Termes IGN] acquisition d'images
[Termes IGN] apprentissage automatique
[Termes IGN] données multisourcesRésumé : (Auteur) [Editorial] There is a growing interest in the photogrammetry and remote sensing community for multi-modal data, i. e., data simultaneously acquired from a variety of platforms, including satellites, aircraft, UAS/UGS, autonomous vehicles, etc., by different sensors, such as radar, optical, LiDAR. Thanks to their different spatial, spectral, or temporal resolutions, the use of complementary data sources leads to richer and more robust information extraction. We expect that the use of multiple modalities will rapidly become a standard approach in the future. The main difficulty of jointly processing multi-modal data is due to the differences in structure among modalities. Another issue is the unbalanced number of labelled samples available across modalities, resulting in a significant gap in performance when models are trained separately. Clearly, the photogrammetry and remote sensing community has not yet exploited the full potential of multi-modal data. Neural networks seem well suited for accommodating different data sources, thanks to their capabilities to learn representations adapted to each task in an end-to-end fashion. In this context, there is a strong need for research and development of approaches for multi-sensory and multi-modal deep learning within the geospatial domain. Numéro de notice : A2021-364 Affiliation des auteurs : UGE-LASTIG+Ext (2020- ) Thématique : IMAGERIE/INFORMATIQUE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.isprsjprs.2021.03.022 Date de publication en ligne : 23/04/2021 En ligne : https://doi.org/10.1016/j.isprsjprs.2021.03.022 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97660
in ISPRS Journal of photogrammetry and remote sensing > vol 176 (June 2021) . - pp 54 - 54[article]Anti-cross validation technique for constructing and boosting random subspace neural network ensembles for hyperspectral image classification / Laxmi Narayana Eeti in Geocarto international, vol 36 n° 6 ([01/04/2021])PermalinkAutomated registration of SfM‐MVS multitemporal datasets using terrestrial and oblique aerial images / Luigi Parente in Photogrammetric record, vol 36 n° 173 (March 2021)PermalinkA points of interest matching method using a multivariate weighting function with gradient descent optimization / Zhou Yang in Transactions in GIS, Vol 25 n° 1 (February 2021)PermalinkEstimation et cartographie d’attributs forestiers haute résolution : Le potentiel des approches multisource / Cédric Vega (2021)PermalinkHigh resolution mapping of forest resources and prediction reliability using multisource inventory approach / Ankit Sagar (2021)PermalinkPermalinkPerception de scène par un système multi-capteurs, application à la navigation dans des environnements d'intérieur structuré / Marwa Chakroun (2021)PermalinkUnit-level small area estimation of forest inventory with GEDI auxiliary information in France / Shaohui Zhang (2021)PermalinkCombined InSAR and terrestrial structural monitoring of bridges / Sivasakthy Selvakumaran in IEEE Transactions on geoscience and remote sensing, vol 58 n° 10 (October 2020)PermalinkMeasuring accessibility of bus system based on multi-source traffic data / Yufan Zuo in Geo-spatial Information Science, vol 23 n° 3 (September 2020)Permalink