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Julian Nubert

Publications and source records attributed to Julian Nubert.

21 records · Page 2Linked to original sources

Traffic Density Estimation using a Convolutional Neural Network

The goal of this project is to introduce and present a machine learning application that aims to improve the quality of life of people in Singapore. In particular, we investigate the use of machine learning solutions to tackle the problem of traffic congestion in Singapore. In layman's terms, we seek to make Singapore (or any other city) a smoother place. To accomplish this aim, we present an end-to-end system comprising of 1. A traffic density estimation algorithm at traffic lights/junctions and 2. a suitable traffic signal control algorithms that make use of the density information for better traffic control. Traffic density estimation can be obtained from traffic junction images using various machine learning techniques (combined with CV tools). After research into various advanced machine learning methods, we decided on convolutional neural networks (CNNs). We conducted experiments on our algorithms, using the publicly available traffic camera dataset published by the Land Transport Authority (LTA) to demonstrate the feasibility of this approach. With these traffic density estimates, different traffic algorithms can be applied to minimize congestion at traffic junctions in general.

cs.LG↗

Developing a Purely Visual Based Obstacle Detection using Inverse Perspective Mapping

Our solution is implemented in and for the frame of Duckietown. The goal of Duckietown is to provide a relatively simple platform to explore, tackle and solve many problems linked to autonomous driving. "Duckietown" is simple in the basics, but an infinitely expandable environment. From controlling single driving Duckiebots until complete fleet management, every scenario is possible and can be put into practice. So far, none of the existing modules was capable of reliably detecting obstacles and reacting to them in real time. We faced the general problem of detecting obstacles given images from a monocular RGB camera mounted at the front of our Duckiebot and reacting to them properly without crashing or erroneously stopping the Duckiebot. Both, the detection as well as the reaction have to be implemented and have to run on a Raspberry Pi in real time. Due to the strong hardware limitations, we decided to not use any learning algorithms for the obstacle detection part. As it later transpired, a working "hard coded" software needs thorough analysis and understanding of the given problem. In layman's terms, we simply seek to make Duckietown a safer place.

cs.RO↗

Autonomous Electric Race Car Design

Autonomous driving and electric vehicles are nowadays very active research and development areas. In this paper we present the conversion of a standard Kyburz eRod into an autonomous vehicle that can be operated in challenging environments such as Swiss mountain passes. The overall hardware and software architectures are described in detail with a special emphasis on the sensor requirements for autonomous vehicles operating in partially structured environments. Furthermore, the design process itself and the finalized system architecture are presented. The work shows state of the art results in localization and controls for self-driving high-performance electric vehicles. Test results of the overall system are presented, which show the importance of generalizable state estimation algorithms to handle a plethora of conditions.

cs.RO↗