arXiv subjects

Lujia Wang

Publications and source records attributed to Lujia Wang.

59 records · Page 4Linked to original sources

arXiv2018

Multiple Lane Detection Algorithm Based on Optimised Dense Disparity Map Estimation

Lane detection is very important for self-driving vehicles. In recent years, computer stereo vision has been prevalently used to enhance the accuracy of the lane detection systems. This paper mainly presents a multiple lane detection algorithm developed based on optimised dense disparity map estimation, where the disparity information obtained at time t_{n} is utilised to optimise the process of disparity estimation at time t_{n+1}. This is achieved by estimating the road model at time t_{n} and then controlling the search range for the disparity estimation at time t_{n+1}. The lanes are then detected using our previously published algorithm, where the vanishing point information is used to model the lanes. The experimental results illustrate that the runtime of the disparity estimation is reduced by around 37% and the accuracy of the lane detection is about 99%.

cs.CV↗

arXiv2018

Real-Time Subpixel Fast Bilateral Stereo

Stereo vision technique has been widely used in robotic systems to acquire 3-D information. In recent years, many researchers have applied bilateral filtering in stereo vision to adaptively aggregate the matching costs. This has greatly improved the accuracy of the estimated disparity maps. However, the process of filtering the whole cost volume is very time consuming and therefore the researchers have to resort to some powerful hardware for the real-time purpose. This paper presents the implementation of fast bilateral stereo on a state-of-the-art GPU. By highly exploiting the parallel computing architecture of the GPU, the fast bilateral stereo performs in real time when processing the Middlebury stereo datasets.

cs.CV↗

arXiv2017

Characterization of a RS-LiDAR for 3D Perception

High precision 3D LiDARs are still expensive and hard to acquire. This paper presents the characteristics of RS-LiDAR, a model of low-cost LiDAR with sufficient supplies, in comparison with VLP-16. The paper also provides a set of evaluations to analyze the characterizations and performances of LiDARs sensors. This work analyzes multiple properties, such as drift effects, distance effects, color effects and sensor orientation effects, in the context of 3D perception. By comparing with Velodyne LiDAR, we found RS-LiDAR as a cheaper and acquirable substitute of VLP-16 with similar efficiency.

cs.RO↗

arXiv2017

The number of triple systems without even cycles

For $k \ge 4$, a loose $k$-cycle $C_k$ is a hypergraph with distinct edges $e_1, e_2, \ldots, e_k$ such that consecutive edges (modulo $k$) intersect in exactly one vertex and all other pairs of edges are disjoint. Our main result is that for every even integer $k \ge 4$, there exists $c>0$ such that the number of triple systems with vertex set $[n]$ containing no $C_{k}$ is at most $2^{cn^2}$. An easy construction shows that the exponent is sharp in order of magnitude. This may be viewed as a hypergraph extension of the work of Morris and Saxton, who proved the analogous result for graphs which was a longstanding problem. For $r$-uniform hypergraphs with $r>3$, we improve the trivial upper bound but fall short of obtaining the order of magnitude in the exponent, which we conjecture is $n^{r-1}$. Our proof method is different than that used for most recent results of a similar flavor about enumerating discrete structures, since it does not use hypergraph containers. One novel ingredient is the use of some (new) quantitative estimates for an asymmetric version of the bipartite canonical Ramsey theorem.

math.CO↗

arXiv2015

Multicolor Sunflowers

A sunflower is a collection of distinct sets such that the intersection of any two of them is the same as the common intersection $C$ of all of them, and $|C|$ is smaller than each of the sets. A longstanding conjecture due to Erdős and Szemerédi states that the maximum size of a family of subsets of $[n]$ that contains no sunflower of fixed size $k>2$ is exponentially smaller than $2^n$ as $n\rightarrow\infty$. We consider this problem for multiple families. In particular, we obtain sharp or almost sharp bounds on the sum and product of $k$ families of subsets of $[n]$ that together contain no sunflower of size $k$ with one set from each family. For the sum, we prove that the maximum is $$(k-1)2^n+1+\sum_{s=n-k+2}^{n}\binom{n}{s}$$ for all $n \ge k \ge 3$, and for the $k=3$ case of the product, we prove that it is between $$\left(\frac{1}{8}+o(1)\right)2^{3n}\qquad \hbox{and} \qquad (0.13075+o(1))2^{3n}.$$

math.CO↗