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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 Application of a hand-held LiDAR scanner for the urban cadastral detail survey in digitized cadastral area of Taiwan urban city / Shih-Hong Chio in Remote sensing, vol 13 n° 24 (December-2 2021)
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Titre : Application of a hand-held LiDAR scanner for the urban cadastral detail survey in digitized cadastral area of Taiwan urban city Type de document : Article/Communication Auteurs : Shih-Hong Chio, Auteur ; Kai-Wen Hou, Auteur Année de publication : 2021 Article en page(s) : n° 4981 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Lasergrammétrie
[Termes IGN] cadastre numérique
[Termes IGN] chevauchement
[Termes IGN] données lidar
[Termes IGN] données localisées 3D
[Termes IGN] étalonnage
[Termes IGN] étude de faisabilité
[Termes IGN] lidar mobile
[Termes IGN] milieu urbain
[Termes IGN] plan cadastral
[Termes IGN] Ransac (algorithme)
[Termes IGN] semis de points
[Termes IGN] TaïwanRésumé : (auteur) The cadastral detail data is used for overlap analysis with digitized graphic cadastral maps to solve the problem of inconsistencies between cadastral maps and the current land situation. This study investigated the feasibility of a handheld LiDAR scanner to collect 3D point clouds in an efficient way for a detail survey in urban environments with narrow and winding streets. Then, urban detail point clouds were collected by the handheld LiDAR scanner. After point cloud filtering and the ranging systematic error correction that was determined by a plane-based calibration method, the collected point clouds were transformed to the TWD97 cadastral coordinate system using control points. The land detail line data were artificially digitized and the results showed that about 97% error of the digitized detail positions was less than 15 cm compared to the check points surveyed by a total station. The results demonstrated the feasibility of using a handheld LiDAR scanner to perform an urban cadastral detail survey in digitized graphic areas. Therefore, the handheld LiDAR scanner could be used for the production of the detail lines for urban cadastral detail surveying for digitized cadastral areas in Taiwan. Numéro de notice : A2021-888 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article DOI : 10.3390/rs13244981 Date de publication en ligne : 08/12/2021 En ligne : https://doi.org/10.3390/rs13244981 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=99242
in Remote sensing > vol 13 n° 24 (December-2 2021) . - n° 4981[article]Review of spectral indices for urban remote sensing / Akib Javed in Photogrammetric Engineering & Remote Sensing, PERS, vol 87 n° 7 (July 2021)
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Titre : Review of spectral indices for urban remote sensing Type de document : Article/Communication Auteurs : Akib Javed, Auteur ; Qimin Cheng, Auteur ; Hao Peng, Auteur ; et al., Auteur Année de publication : 2021 Article en page(s) : pp 513 - 524 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique
[Termes IGN] bande spectrale
[Termes IGN] classification non dirigée
[Termes IGN] détection du bâti
[Termes IGN] indice de détection
[Termes IGN] milieu urbain
[Termes IGN] occupation du sol
[Termes IGN] surface imperméableRésumé : (Auteur) Urban spectral indices have made promising improvements in the last two decades in urban land use land cover studies through mapping, estimation, change detection, time-series analyzing, urban dynamics, monitoring, modeling, and so on. Remote sensing spectral indices are unsupervised, unbiased, rapid, scalable, and quantitative in information extraction. Hence, we aimed to summarize the most relevant urban spectral indices by focusing on multispectral, thermal, and nighttime lights indices. We use the search terms "urban index", "built-up index", "normalized difference built-up area (NDBI )", "impervious surface index", and "spectral urban index" to collect relevant literature from the "Web of Science Core Collection" database. We found that all urban spectral indices developed since 2003, except NDBI. This review will help understand the applications of urban spectral indices, the selection of indices based on available spectral bands, and their merits and demerits. Numéro de notice : A2021-572 Affiliation des auteurs : non IGN Thématique : IMAGERIE/URBANISME Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.14358/PERS.87.7.513 Date de publication en ligne : 01/07/2021 En ligne : https://doi.org/10.14358/PERS.87.7.513 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=98167
in Photogrammetric Engineering & Remote Sensing, PERS > vol 87 n° 7 (July 2021) . - pp 513 - 524[article]Réservation
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Code-barres Cote Support Localisation Section Disponibilité 105-2021071 SL Revue Centre de documentation Revues en salle Disponible Multi-GNSS PPP/INS tightly coupled integration with atmospheric augmentation and its application in urban vehicle navigation / Shengfeng Gu in Journal of geodesy, vol 95 n° 6 (June 2021)
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Titre : Multi-GNSS PPP/INS tightly coupled integration with atmospheric augmentation and its application in urban vehicle navigation Type de document : Article/Communication Auteurs : Shengfeng Gu, Auteur ; Chunqi Dai, Auteur ; Wentao Fang, Auteur ; et al., Auteur Année de publication : 2021 Article en page(s) : n° 64 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] centrale inertielle
[Termes IGN] correction atmosphérique
[Termes IGN] couplage GNSS-INS
[Termes IGN] milieu urbain
[Termes IGN] navigation automobile
[Termes IGN] positionnement ponctuel précis
[Termes IGN] retard ionosphèrique
[Termes IGN] teneur verticale totale en électrons
[Termes IGN] Wuhan (Chine)Résumé : (auteur) Precise point positioning (PPP) is receiving increasing interest due to its cost-effectiveness, global coverage and high accuracy. However, its application in the urban environment is still full of challenges due to the satellite tracking sky-view. Thus, we presented a comprehensive positioning model by fusing the multi-GNSS (global navigation satellite system) combination, GNSS/INS (inertial navigation system) tightly coupled integration as well as the ionospheric and tropospheric augmentation in the undifferenced and uncombined PPP. The performance of this model in dual-frequency and single-frequency positioning was assessed with two experiments that denoted as T019 and T023, respectively, and both the experiments were carried out in a real urban environment. Particularly, the experiment T023 was carried out in the Second Ring Road of Wuhan city, which can be regarded as a typical downtown environment. Concerning the regional atmospheric augmentation, observations from 5 reference stations with an inter-station distance of about 40 km were also collected during the experimental time. The comparison between reference stations suggested that the regional tropospheric model had a precision of better than 0.6 cm in terms of zenith tropospheric delay, while the regional ionospheric model had a precision of around 0.5 total electron content unit in terms of Vertical Total Electron Content. It can be concluded that the GPS-only PPP can be improved significantly for urban vehicle navigation with these techniques, i.e., the multi-GNSS, INS tightly coupled integration and the atmospheric augmentation, through the positioning analysis, while INS tightly coupled integration makes the most contributions under the downtown environment, and the improvement of the regional atmospheric augmentation in single-frequency PPP is more significant since that single frequency is more sensitive to the ionospheric delay. In addition, it is proved that the regional atmospheric augmentation accelerates positioning convergence. The 3D positioning root-mean-square (RMS) with the comprehensive positioning model for dual frequency are 0.22 m and 0.77 m for T019 and T023, respectively. Concerning single-frequency PPP, the 3D RMS is 0.45 m and 1.17 m for T019 and T023, respectively. Moreover, taking the lane-level navigation under the downtown environment of T023 into consideration, we further presented the cumulative frequency of the horizontal positioning error less than 1 m, i.e., P(dN2+dE2−−−−−−−−−√ Numéro de notice : A2021-429 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-021-01514-8 Date de publication en ligne : 26/05/2021 En ligne : https://doi.org/10.1007/s00190-021-01514-8 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97789
in Journal of geodesy > vol 95 n° 6 (June 2021) . - n° 64[article]A novel class-specific object-based method for urban change detection using high-resolution remote sensing imagery / Ting Bai in Photogrammetric Engineering & Remote Sensing, PERS, vol 87 n° 4 (April 2021)
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Titre : A novel class-specific object-based method for urban change detection using high-resolution remote sensing imagery Type de document : Article/Communication Auteurs : Ting Bai, Auteur ; Kaimin Sun, Auteur ; Wenzhuo Li, Auteur ; et al., Auteur Année de publication : 2021 Article en page(s) : pp 249-262 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications de télédétection
[Termes IGN] changement d'occupation du sol
[Termes IGN] classe d'objets
[Termes IGN] classification par forêts d'arbres décisionnels
[Termes IGN] détection de changement
[Termes IGN] détection du bâti
[Termes IGN] image à haute résolution
[Termes IGN] milieu urbain
[Termes IGN] segmentation multi-échelleRésumé : (Auteur) A single-scale object-based change-detection classifier can distinguish only global changes in land cover, not the more granular and local changes in urban areas. To overcome this issue, a novel class-specific object-based change-detection method is proposed. This method includes three steps: class-specific scale selection, class-specific classifier selection, and land cover change detection. The first step combines multi-resolution segmentation and a random forest to select the optimal scale for each change type in land cover. The second step links multi-scale hierarchical sampling with a classifier such as random forest, support vector machine, gradient-boosting decision tree, or Adaboost; the algorithm automatically selects the optimal classifier for each change type in land cover. The final step employs the optimal classifier to detect binary changes and from-to changes for each change type in land cover. To validate the proposed method, we applied it to two high-resolution data sets in urban areas and compared the change-detection results of our proposed method with that of principal component analysis k-means, object-based change vector analysis, and support vector machine. The experimental results show that our proposed method is more accurate than the other methods. The proposed method can address the high levels of complexity found in urban areas, although it requires historical land cover maps as auxiliary data. Numéro de notice : A2021-332 Affiliation des auteurs : non IGN Thématique : IMAGERIE/URBANISME Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.14358/PERS.87.4.249 Date de publication en ligne : 01/04/2021 En ligne : https://doi.org/10.14358/PERS.87.4.249 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97528
in Photogrammetric Engineering & Remote Sensing, PERS > vol 87 n° 4 (April 2021) . - pp 249-262[article]Réservation
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