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Zohaib M, Ahsan M, Khan M, Iqbal J. A featureless approach for object detection and tracking in dynamic environments. PLoS One 2023; 18:e0280476. [PMID: 36649310 PMCID: PMC9844841 DOI: 10.1371/journal.pone.0280476] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/09/2022] [Accepted: 01/03/2023] [Indexed: 01/18/2023] Open
Abstract
One of the challenging problems in mobile robotics is mapping a dynamic environment for navigating robots. In order to disambiguate multiple moving obstacles, state-of-art techniques often solve some form of dynamic SLAM (Simultaneous Localization and Mapping) problem. Unfortunately, their higher computational complexity press the need for simpler and more efficient approaches suitable for real-time embedded systems. In this paper, we present a ROS-based efficient algorithm for constructing dynamic maps, which exploits the spatial-temporal locality for detecting and tracking moving objects without relying on prior knowledge of their geometrical features. A two-prong contribution of this work is as follows: first, an efficient scheme for decoding sensory data into an estimated time-varying object boundary that ultimately decides its orientation and trajectory based on the iteratively updated robot Field of View (FoV); second, lower time-complexity of updating the dynamic environment through manipulating spatial-temporal locality available in the object motion profile. Unlike existing approaches, the snapshots of the environment remain constant in the number of moving objects. We validate the efficacy of our algorithm on both V-Rep simulations and real-life experiments with a wide array of dynamic environments. We show that the algorithm accurately detects and tracks objects with a high probability as long as sensor noise is low and the speed of moving objects remains within acceptable limits.
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Affiliation(s)
- Mohammad Zohaib
- National Center of Robotics and Automation (NCRA), Department of Mechatronics and Control Engineering, University of Engineering and Technology Lahore, Lahore, Pakistan
| | - Muhammad Ahsan
- National Center of Robotics and Automation (NCRA), Department of Mechatronics and Control Engineering, University of Engineering and Technology Lahore, Lahore, Pakistan
| | - Mudassir Khan
- Syed Babar Ali School of Science and Engineering, Lahore University of Management Sciences, Lahore, Pakistan
| | - Jamshed Iqbal
- School of Computer Science, Faculty of Science and Engineering, University of Hull, Hull, United Kingdom
- * E-mail:
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Căilean AM, Beguni C, Avătămăniței SA, Dimian M, Popa V. Design, Implementation and Experimental Investigation of a Pedestrian Street Crossing Assistance System Based on Visible Light Communications. SENSORS (BASEL, SWITZERLAND) 2022; 22:s22155481. [PMID: 35897984 PMCID: PMC9331235 DOI: 10.3390/s22155481] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/29/2022] [Revised: 07/15/2022] [Accepted: 07/20/2022] [Indexed: 05/14/2023]
Abstract
In urban areas, pedestrians are the road users category that is the most exposed to road accident fatalities. In this context, the present article proposes a totally new architecture, which aims to increase the safety of pedestrians on the crosswalk. The first component of the design is a pedestrian detection system, which identifies the user's presence in the region of the crosswalk and determines the future street crossing action possibility or the presence of a pedestrian engaged in street crossing. The second component of the system is the visible light communications part, which is used to transmit this information toward the approaching vehicles. The proposed architecture has been implemented at a regular scale and experimentally evaluated in outdoor conditions. The experimental results showed a 100% overall pedestrian detection rate. On the other hand, the VLC system showed a communication distance between 5 and 40 m when using a standard LED light crosswalk sign as a VLC emitter, while maintaining a bit error ratio between 10-7 and 10-5. These results demonstrate the fact that the VLC technology is now able to be used in real applications, making the transition from a high potential technology to a confirmed technology. As far as we know, this is the first article presenting such a pedestrian street crossing assistance system.
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Affiliation(s)
- Alin-Mihai Căilean
- Integrated Center for Research, Development and Innovation in Advanced Materials, Nanotechnologies, and Distributed Systems for Fabrication and Control, Stefan cel Mare University of Suceava, 720229 Suceava, Romania; (C.B.); (S.-A.A.); (M.D.)
- Department of Computers, Electronics and Automation, Stefan cel Mare University of Suceava, 720229 Suceava, Romania;
- Laboratoire D’ingénierie des Systèmes de Versailles (LISV), Paris-Saclay University, 78140 Velizy-Villacoublay, France
- Correspondence:
| | - Cătălin Beguni
- Integrated Center for Research, Development and Innovation in Advanced Materials, Nanotechnologies, and Distributed Systems for Fabrication and Control, Stefan cel Mare University of Suceava, 720229 Suceava, Romania; (C.B.); (S.-A.A.); (M.D.)
- Department of Computers, Electronics and Automation, Stefan cel Mare University of Suceava, 720229 Suceava, Romania;
| | - Sebastian-Andrei Avătămăniței
- Integrated Center for Research, Development and Innovation in Advanced Materials, Nanotechnologies, and Distributed Systems for Fabrication and Control, Stefan cel Mare University of Suceava, 720229 Suceava, Romania; (C.B.); (S.-A.A.); (M.D.)
- Department of Computers, Electronics and Automation, Stefan cel Mare University of Suceava, 720229 Suceava, Romania;
| | - Mihai Dimian
- Integrated Center for Research, Development and Innovation in Advanced Materials, Nanotechnologies, and Distributed Systems for Fabrication and Control, Stefan cel Mare University of Suceava, 720229 Suceava, Romania; (C.B.); (S.-A.A.); (M.D.)
- Department of Computers, Electronics and Automation, Stefan cel Mare University of Suceava, 720229 Suceava, Romania;
| | - Valentin Popa
- Department of Computers, Electronics and Automation, Stefan cel Mare University of Suceava, 720229 Suceava, Romania;
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