基于多层感知子的错误补偿,用于自动在飞行中的摄像头定向估计,使用从道路车道单一的失踪点
Xingyou Li1, Hyoungrae Kim2, Vijay Kakani3
1Electrical and Computer Engineering, Inha University, 100 Inha-ro, Michuhol-gu, Incheon 22212, Republic of Korea.
Sensors (Basel, Switzerland)
|February 10, 2024
概括
本研究介绍了一种新的多层感知子 (MLP) 方法,用于在自动驾驶汽车中准确的实时摄像头定向估计,使用车道线改善斜率和曲率角度的准确性.
科学领域:
- 计算机视觉 计算机视觉
- 机器人技术 机器人技术 机器人技术
- 机器学习 机器学习
背景情况:
- 准确的摄像头定位对于自动驾驶汽车的导航至关重要.
- 现有的方法通常在不同的条件下与实时性能和准确性作斗争.
- 零滚角相机在汽车应用中很常见.
研究的目的:
- 开发和评估一种新的多层感知子 (MLP) 错误补偿方法,用于实时摄像头定向估计.
- 为了提高使用单一失踪点和道路车道线路估计斜率和曲率角度的准确性.
- 为了验证该方法在模拟和现实驾驶场景中的有效性.
主要方法:
- 使用多层感知子 (MLP) 在摄像头定向估计中的错误补偿.
- 采用单一的失踪点和道路车道线作为主要输入.
- 整合了两个卡尔曼波器模型,具有图像点 (u,v) 和衍生角度输入.
- 专注于具有0°滚动角度的摄像头,这是自动驾驶汽车的典型.
主要成果:
- 拟议的MLP方法显著提高了摄像头定向估计的准确性.
- 性能指标 (avgE,minE,maxE,ssE,Stdev) 与现有技术相比显示出优异的结果.
- 该系统在模拟器和真实车辆测试中在各种场景中显示出一致的准确性.
结论:
- 开发的MLP错误补偿方法为实时摄像头定位估计提供了强大而精确的解决方案.
- 这种方法具有适应性和准确性,在增强自动驾驶汽车系统方面显示出重大前景.
- 这种方法为先进的驾驶辅助系统和完全自动驾驶提供了可靠的基础.
相关概念视频
Relative Motion Analysis using Rotating Axes-Problem Solving
404
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
Here, in order to determine the magnitude of velocity and acceleration for point...
404
Errors in Global Positioning System
45
Global Positioning System (GPS) technology has revolutionized navigation and positioning, but its accuracy is often compromised by various errors. These errors, stemming from environmental, satellite, and receiver-related factors, require careful mitigation to ensure reliable performance across applications.Atmospheric ErrorsGPS signals travel through the Earth’s ionosphere and troposphere, introducing delays which affect accuracy. The ionosphere is strongly influenced by charged particles,...
45
Relative Motion Analysis using Rotating Axes
461
Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
461
Common Leveling Mistakes and Errors
72
A survey team is tasked with determining the elevation difference between points Point A and Point B, separated by uneven terrain. They use a leveling instrument and a leveling rod.Common MistakesMisreading the Rod: During a backsight reading at Point A, the instrumentman observes the rod partially obscured by tall grass. Instead of reading 1.135 m, they mistakenly record 1.735 m due to the misalignment of the crosshair with the wrong graduation. This error adds 0.600 m to all subsequent...
72
Curvilinear Motion: Rectangular Components
454
Curvilinear motion characterizes the movement of a particle or object along a curved path, notably evident when envisioning a car navigating a winding road. If the car starts at point A, its position vector is established within a fixed frame of reference, where the ratio of the position vector to its magnitude signifies the unit vector pointing in the position vector's direction.
As the car advances, its position evolves over time. Quantifying the car's velocity involves computing the...
As the car advances, its position evolves over time. Quantifying the car's velocity involves computing the...
454
PI Controller: Design
272
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
272


