arXiv subjects

Claudine Badue

Publications and source records attributed to Claudine Badue.

21 records · Page 2Linked to original sources

arXiv2018

Mapping Road Lanes Using Laser Remission and Deep Neural Networks

We propose the use of deep neural networks (DNN) for solving the problem of inferring the position and relevant properties of lanes of urban roads with poor or absent horizontal signalization, in order to allow the operation of autonomous cars in such situations. We take a segmentation approach to the problem and use the Efficient Neural Network (ENet) DNN for segmenting LiDAR remission grid maps into road maps. We represent road maps using what we called road grid maps. Road grid maps are square matrixes and each element of these matrixes represents a small square region of real-world space. The value of each element is a code associated with the semantics of the road map. Our road grid maps contain all information about the roads' lanes required for building the Road Definition Data Files (RDDFs) that are necessary for the operation of our autonomous car, IARA (Intelligent Autonomous Robotic Automobile). We have built a dataset of tens of kilometers of manually marked road lanes and used part of it to train ENet to segment road grid maps from remission grid maps. After being trained, ENet achieved an average segmentation accuracy of 83.7%. We have tested the use of inferred road grid maps in the real world using IARA on a stretch of 3.7 km of urban roads and it has shown performance equivalent to that of the previous IARA's subsystem that uses a manually generated RDDF.

cs.RO↗

arXiv2017

A Model-Predictive Motion Planner for the IARA Autonomous Car

We present the Model-Predictive Motion Planner (MPMP) of the Intelligent Autonomous Robotic Automobile (IARA). IARA is a fully autonomous car that uses a path planner to compute a path from its current position to the desired destination. Using this path, the current position, a goal in the path and a map, IARA's MPMP is able to compute smooth trajectories from its current position to the goal in less than 50 ms. MPMP computes the poses of these trajectories so that they follow the path closely and, at the same time, are at a safe distance of eventual obstacles. Our experiments have shown that MPMP is able to compute trajectories that precisely follow a path produced by a Human driver (distance of 0.15 m in average) while smoothly driving IARA at speeds of up to 32.4 km/h (9 m/s).

cs.RO↗

arXiv2010

Capacity Planning for Vertical Search Engines

Vertical search engines focus on specific slices of content, such as the Web of a single country or the document collection of a large corporation. Despite this, like general open web search engines, they are expensive to maintain, expensive to operate, and hard to design. Because of this, predicting the response time of a vertical search engine is usually done empirically through experimentation, requiring a costly setup. An alternative is to develop a model of the search engine for predicting performance. However, this alternative is of interest only if its predictions are accurate. In this paper we propose a methodology for analyzing the performance of vertical search engines. Applying the proposed methodology, we present a capacity planning model based on a queueing network for search engines with a scale typically suitable for the needs of large corporations. The model is simple and yet reasonably accurate and, in contrast to previous work, considers the imbalance in query service times among homogeneous index servers. We discuss how we tune up the model and how we apply it to predict the impact on the query response time when parameters such as CPU and disk capacities are changed. This allows a manager of a vertical search engine to determine a priori whether a new configuration of the system might keep the query response under specified performance constraints.

cs.IR↗