RESUMEN

Occupancy grid maps are widely used as an environment model that allows the fusion of different range sensor technologies in real-time for robotics applications. In an autonomous vehicle setting, occupancy grid maps are especially useful for their ability to accurately represent the position of surrounding obstacles while being robust to discrepancies between the fused sensors through the use of occupancy probabilities representing uncertainty. In this article, we propose to evaluate the applicability of real-time vehicle detection on occupancy grid maps. State of the art detectors in sensor-specific domains such as YOLOv2/YOLOv3 for images or PIXOR for LiDAR point clouds are modified to use occupancy grid maps as input and produce oriented bounding boxes enclosing vehicles as output. The five proposed detectors are trained on the Waymo Open automotive dataset and compared regarding the quality of their detections measured in terms of Average Precision (AP) and their real-time capabilities measured in Frames Per Second (FPS). Of the five detectors presented, one inspired from the PIXOR backbone reaches the highest AP0.7 of 0.82 and runs at 20 FPS. Comparatively, two other proposed detectors inspired from YOLOv2 achieve an almost as good, with a AP0.7 of 0.79 while running at 91 FPS. These results validate the feasibility of real-time vehicle detection on occupancy grids.

RESUMEN

Smart agriculture based on new types of sensors, data analytics and automation, is an important enabler for optimizing yields and maximizing efficiency to feed the world's growing population while limiting environmental pollution. The aim of this paper is to describe a multi-sensor Internet of Things (IoT) system for agriculture consisting of a soil probe, an air probe and a smart data logger. The implementation details will focus of the integration element and the innovative Artificial Intelligence based gas identification sensor. Furthermore, the paper focuses on the analytics and decision support system implementation that provides farming recommendations and is enhanced with a feedback loop from farmers and a social trust index that will increase the reliability of the system.

Asunto(s)

RESUMEN

Environment perception is crucial for the safe navigation of vehicles and robots to detect obstacles in their surroundings. It is also of paramount interest for navigation of human beings in reduced visibility conditions. Obstacle avoidance systems typically combine multiple sensing technologies (i.e., LiDAR, radar, ultrasound and visual) to detect various types of obstacles under different lighting and weather conditions, with the drawbacks of a given technology being offset by others. These systems require powerful computational capability to fuse the mass of data, which limits their use to high-end vehicles and robots. INSPEX delivers a low-power, small-size and lightweight environment perception system that is compatible with portable and/or wearable applications. This requires miniaturizing and optimizing existing range sensors of different technologies to meet the user's requirements in terms of obstacle detection capabilities. These sensors consist of a LiDAR, a time-of-flight sensor, an ultrasound and an ultra-wideband radar with measurement ranges respectively of 10 m, 4 m, 2 m and 10 m. Integration of a data fusion technique is also required to build a model of the user's surroundings and provide feedback about the localization of harmful obstacles. As primary demonstrator, the INSPEX device will be fixed on a white cane.