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Environmental mapping and robot navigation are the basis for realizing robot automation in modern agricultural production. This study proposes a new autonomous mapping and navigation method for gardening scene robots. First, a new LiDAR slam-based semantic mapping algorithm is proposed to enable the robots to analyze structural information from point cloud images and generate roadmaps from them. Secondly, a general robot navigation framework is proposed to enable the robot to generate the shortest global path according to the road map, and consider the local terrain information to find the optimal local path to achieve safe and efficient trajectory tracking; this method is equipped in apple orchards. The LiDAR was evaluated on a differential drive robotic platform. Experimental results show that this method can effectively process orchard environmental information. Compared with vnf and pointnet++, the semantic information extraction efficiency and time are greatly improved. The map feature extraction time can be reduced to 0.1681 s, and its MIoU is 0.812. The resulting global path planning achieved a 100% success rate, with an average run time of 4ms. At the same time, the local path planning algorithm can effectively generate safe and smooth trajectories to execute the global path, with an average running time of 36 ms. [ABSTRACT FROM AUTHOR]

Identifying disease biomarkers and detecting hazardous, explosive, flammable, and polluting gases and chemicals with extremely sensitive and selective sensor devices remains a challenging and time-consuming research challenge. Due to their exceptional characteristics, semiconducting metal oxides (SMOxs) have received a lot of attention in terms of the development of various types of sensors in recent years. The key performance indicators of SMOx-based sensors are their sensitivity, selectivity, recovery time, and steady response over time. SMOx-based sensors are discussed in this review based on their different properties. Surface properties of the functional material, such as its (nano)structure, morphology, and crystallinity, greatly influence sensor performance. A few examples of the complicated and poorly understood processes involved in SMOx sensing systems are adsorption and chemisorption, charge transfers, and oxygen migration. The future prospects of SMOx-based gas sensors, chemical sensors, and biological sensors are also discussed. [ABSTRACT FROM AUTHOR]

Exploration is an important aspect of autonomous robotics, whether it is for target searching, rescue missions, or reconnaissance in an unknown environment. In this paper, we propose a solution to efficiently explore the unknown environment by unmanned aerial vehicles (UAV). Innovatively, a topological road map is incrementally built based on Rapidly-exploring Random Tree (RRT) and maintained along with the whole exploration process. The topological structure can provide a set of waypoints for searching an optimal informative path. To evaluate the path, we consider the information measurement based on prior map uncertainty and the distance cost of the path, and formulate a normalized utility to describe information-richness along the path. The informative path is determined in every period by a local planner, and the robot executes the planned path to collect measurements of the unknown environment and restructure a map. The proposed framework and its composed modules are verified in two 3-D environments, which exhibit better performance in improving the exploration efficiency than other methods. [ABSTRACT FROM AUTHOR]

Sequential pattern mining (SPM) is a major class of data mining topics with a wide range of applications. The continuity and uncertain nature of trajectory data make it distinctively different from typical transactional data, which requires additional data transformation to prepare for SPM. However, little research focuses on comparing the performance of SPM algorithms and their applications in the context of trajectory data. This study selected some representative sequential pattern mining algorithms and evaluated them with various parameters to understand the effect of the involved parameters on their performances. We studied the resultant sequential patterns, runtime, and RAM consumption in the context of the taxi trajectory dataset, the T-drive dataset. It was demonstrated in this work that a method to discretize trajectory data and different SPM algorithms were performed on trajectory databases. The results were visualized on actual Beijing road maps, reflecting traffic congestion conditions. Results demonstrated contiguous constraint-based algorithms could provide a concise representation of output sequences and functions at low m i n _ s u p with balanced RAM consumption and execution time. This study can be used as a guide for academics and professionals when determining the most suitable SPM algorithm for applications that involve trajectory data. [ABSTRACT FROM AUTHOR]

Owing to the widespread use of GPS-enabled devices, sensing road information from vehicle trajectories is becoming an attractive method for road map construction and update. Although the detection of intersections is critical for generating road networks, it is still a challenging task. Traditional approaches detect intersections by identifying turning points based on the heading changes. As the intersections vary greatly in pattern and size, the appropriate threshold for heading change varies from area to area, which leads to the difficulty of accurate detection. To overcome this shortcoming, we propose a deep learning-based approach to detect turns and generate intersections. First, we convert each trajectory into a feature sequence that stores multiple motion attributes of the vehicle along the trajectory. Next, a supervised method uses these feature sequences and labeled trajectories to train a long short-term memory (LSTM) model that detects turning trajectory segments (TTSs), each of which indicates a turn occurring at an intersection. Finally, the detected TTSs are clustered to obtain the intersection coverages and internal structures. The proposed approach was tested using vehicle trajectories collected in Wuhan, China. The intersection detection precision and recall were 94.0% and 91.9% in a central urban region and 94.1% and 86.7% in a semi-urban region, respectively, which were significantly higher than those of the previously established local G* statistic-based approaches. In addition to the applications for road map development, the newly developed approach may have broad implications for the analysis of spatiotemporal trajectory data. [ABSTRACT FROM AUTHOR]

Path planning is a very important step for mobile smart vehicles in complex environments. Sampling based planners such as the Probabilistic Roadmap Method (PRM) have been widely used for smart vehicle applications. However, there exist some shortcomings, such as low efficiency, low reuse rate of the roadmap, and a lack of guidance in the selection of sampling points. To solve the above problems, we designed a pseudo-random sampling strategy with the main spatial axis as the reference axis. We optimized the generation of sampling points, removed redundant sampling points, set the distance threshold between road points, adopted a two-way incremental method for collision detections, and optimized the number of collision detection calls to improve the construction efficiency of the roadmap. The key road points of the planned path were extracted as discrete control points of the Bessel curve, and the paths were smoothed to make the generated paths more consistent with the driving conditions of vehicles. The correctness of the modified PRM was verified and analyzed using MATLAB and ROS to build a test platform. Compared with the basic PRM algorithm, the modified PRM algorithm has advantages related to speed in constructing the roadmap, path planning, and path length. [ABSTRACT FROM AUTHOR]

With the significant rise in demand for network utilization, such as data transmission and device-to-device (D2D) communication, fifth-generation (5G) networks have been proposed to fill the demand. Deploying 5G enhances the utilization of network channels and allows users to exploit licensed channels in the absence of primary users (PUs). In this paper, a hybrid route selection mechanism is proposed, and it allows the central controller (CC) to evaluate the route map proactively in a centralized manner for source nodes. In contrast, source nodes are enabled to make their own decisions reactively and select a route in a distributed manner. D2D communication is preferred, which helps networks to offload traffic from the control plane to the data plane. In addition to the theoretical analysis, a real testbed was set up for the proof of concept; it was composed of eleven nodes with independent processing units. Experiment results showed improvements in traffic offloading, higher utilization of network channels, and a lower interference level between primary and secondary users. Packet delivery ratio and end-to-end delay were affected due to a higher number of intermediate nodes and the dynamicity of PU activities. [ABSTRACT FROM AUTHOR]

DYNAMAP, a European Life project, aims at giving a real image of the noise generated by vehicular traffic in urban areas developing a dynamic acoustic map based on a limited number of low-cost permanent noise monitoring stations. The system has been implemented in two pilot areas located in the agglomeration of Milan (Italy) and along the Motorway A90 (Rome-Italy). The paper reports the final assessment of the system installed in the pilot area of Milan. Traffic noise data collected by the monitoring stations, each one representative of a number of roads (groups) sharing similar characteristics (e.g., daily traffic flow), are used to build-up a “real-time” noise map. In particular, we focused on the results of the testing campaign (21 sites distributed over the pilot area and 24 h duration of each recording). It allowed evaluating the accuracy and reliability of the system by comparing the predicted noise level of DYNAMAP with field measurements in randomly selected sites. To this end, a statistical analysis has been implemented to determine the error associated with such prediction, and to optimize the system by developing a correction procedure aimed at keeping the error below some acceptable threshold. The steps and the results of this procedure are given in detail. It is shown that it is possible to describe a complex road network on the basis of a statistical approach, complemented by empirical data, within a threshold of 3 dB provided that the traffic flow model achieves a comparable accuracy within each single groups of roads in the network. [ABSTRACT FROM AUTHOR]

A growing number of applications needs GIS mapping information and commercial 3-D roadmaps especially. This paper presents a solution of accessing freely to 3-D map information and updating in the context of transport applications. The method relies on the OSM road networks that is 2-D modeled intrinsically. The objective is to estimate the road elevation and inclination parameters by fusing GPS, OSM and DEM data through a nonlinear filter. An experimental framework, using ASTER GDEM2 data, shows some results of the improvement of the roads modeling that includes their slopes also. The map database can be enriched with the estimated inclinations. The accuracy depends on the GPS and DEM elevation errors (typically a few meters with the GNSS sensors used and the DEM under consideration). [ABSTRACT FROM AUTHOR]

In the context of autonomous vehicles on highways, one of the first and most important tasks is to localize the vehicle on the road. For this purpose, the vehicle needs to be able to take into account the information from several sensors and fuse them with data coming from road maps. The localization problem on highways can be distilled into three main components. The first one consists of inferring on which road the vehicle is currently traveling. Indeed, Global Navigation Satellite Systems are not precise enough to deduce this information by themselves, and thus a filtering step is needed. The second component consists of estimating the vehicle's position in its lane. Finally, the third and last one aims at assessing on which lane the vehicle is currently driving. These two last components are mandatory for safe driving as actions such as overtaking a vehicle require precise information about the current localization of the vehicle. In this survey, we introduce a taxonomy of the localization methods for autonomous vehicles in highway scenarios. We present each main component of the localization process, and discuss the advantages and drawbacks of the associated state-of-the-art methods. [ABSTRACT FROM AUTHOR]

Like Smart Home and Smart Devices, Smart Navigation has become necessary to travel through the congestion of the structure of either building or in the wild. The advancement in smartphone technology and incorporation of many different precise sensors have made the smartphone a unique choice for developing practical navigation applications. Many have taken the initiative to address this by developing mobile-based solutions. Here, a cloud-based intelligent traveler assistant is proposed that exploits user-generated position and elevation data collected from ubiquitous smartphone devices equipped with Accelerometer, Gyroscope, Magnetometer, and GPS (Global Positioning System) sensors. The data can be collected by the pedestrians and the drivers, and are then automatically put into topological information. The platform and associated innovative application allow travelers to create a map of a route or an infrastructure with ease and to share the information for others to follow. The cloud-based solution that does not cost travelers anything allows them to create, access, and follow any maps online and offline. The proposed solution consumes little battery power and can be used with lowly configured resources. The ability to create unknown, unreached, or unrecognized rural/urban road maps, building structures, and the wild map with the help of volunteer traveler-generated data and to share these data with the greater community makes the presented solution unique and valuable. The proposed crowdsourcing method of knowing the unknown would be an excellent support for travelers. [ABSTRACT FROM AUTHOR]

Nearest neighbor (NN) and range (RN) queries are basic query types in spatial databases. In this study, we refer to collections of NN and RN queries as spatial proximity (SP) queries. At peak times, location-based services (LBS) need to quickly process SP queries that arrive simultaneously. Timely processing can be achieved by increasing the number of LBS servers; however, this also increases service costs. Existing solutions evaluate SP queries sequentially; thus, such solutions involve unnecessary distance calculations. This study proposes a unified batch algorithm (UBA) that can effectively process SP queries in dynamic spatial networks. With the proposed UBA, the distance between two points is indicated by the travel time on the shortest path connecting them. The shortest travel time changes frequently depending on traffic conditions. The goal of the proposed UBA is to avoid unnecessary distance calculations for nearby SP queries. Thus, the UBA clusters nearby SP queries and exploits shared distance calculations for query clusters. Extensive evaluations using real-world roadmaps demonstrated the superiority and scalability of UBA compared with state-of-the-art sequential solutions. [ABSTRACT FROM AUTHOR]

In this study, we measured the in situ international roughness index (IRI) for first-degree roads spanning more than 1300 km in East Azerbaijan Province, Iran, using a quarter car (QC). Since road quality mapping with in situ measurements is a costly and time-consuming task, we also developed new equations for constructing a road quality proxy map (RQPM) using discriminant analysis and multispectral information from high-resolution Sentinel-2 images, which we calibrated using the in situ data on the basis of geographic information system (GIS) data. The developed equations using optimum index factor (OIF) and norm R provide a valuable tool for creating proxy maps and mitigating hazards at the network scale, not only for primary roads but also for secondary roads, and for reducing the costs of road quality monitoring. The overall accuracy and kappa coefficient of the norm R equation for road classification in East Azerbaijan province are 65.0% and 0.59, respectively. [ABSTRACT FROM AUTHOR]

Road information high definition maps (HD map) contain information about the facilities around the roads and are often constructed through a mobile mapping system (MMS). Although constructing an HD map is essential for road maintenance and the application of autonomous driving in the future, it is problematic to acquire the data of objects other than the facilities in an unstructured form while operating the MMS. In this study, the researchers define this object data as clutter objects and present a method of automatic removal using characteristics of the MMS and image segmentation techniques. By applying the method to 10 KITTI (Karlsruhe Institute of Technology and Toyota Technological Institute at Chicago) datasets, clutter objects were removed with an average overall accuracy of 91% with 0% (0.448%) error of commission for the complete point cloud map. [ABSTRACT FROM AUTHOR]

Image mosaicking which is a process of constructing multiple orthoimages into a single seamless composite orthoimage, is one of the key steps for the production of large-scale digital orthophoto maps (DOM). Seamline determination is one of the most difficult technologies in the automatic mosaicking of orthoimages. The seamlines that follow the centerlines of roads where no significant differences exist are beneficial to improve the quality of image mosaicking. Based on this idea, this paper proposes a novel method of seamline determination based on road probability map from the D-LinkNet neural network for urban image mosaicking. This method optimizes the seamlines at both the semantic and pixel level as follows. First, the road probability map is obtained with the D-LinkNet neural network and related post processing. Second, the preferred road areas (PRAs) are determined by binarizing the road probability map of the overlapping area in the left and right image. The PRAs are the priority areas in which the seamlines cross. Finally, the final seamlines are determined by Dijkstra's shortest path algorithm implemented with binary min-heap at the pixel level. The experimental results of three group data sets show the advantages of the proposed method. Compared with two previous methods, the seamlines obtained by the proposed method pass through the less obvious objects and mainly follow the roads. In terms of the computational efficiency, the proposed method also has a high efficiency. [ABSTRACT FROM AUTHOR]

Image classification is a fundamental task in remote sensing image processing. In recent years, deep convolutional neural networks (DCNNs) have experienced significant breakthroughs in natural image recognition. The remote sensing field, however, is still lacking a large-scale benchmark similar to ImageNet. In this paper, we propose a remote sensing image classification benchmark (RSI-CB) based on massive, scalable, and diverse crowdsourced data. Using crowdsourced data, such as Open Street Map (OSM) data, ground objects in remote sensing images can be annotated effectively using points of interest, vector data from OSM, or other crowdsourced data. These annotated images can, then, be used in remote sensing image classification tasks. Based on this method, we construct a worldwide large-scale benchmark for remote sensing image classification. This benchmark has large-scale geographical distribution and large total image number. It contains six categories with 35 sub-classes of more than 24,000 images of size 256 × 256 pixels. This classification system of ground objects is defined according to the national standard of land-use classification in China and is inspired by the hierarchy mechanism of ImageNet. Finally, we conduct numerous experiments to compare RSI-CB with the SAT-4, SAT-6, and UC-Merced data sets. The experiments show that RSI-CB is more suitable as a benchmark for remote sensing image classification tasks than other benchmarks in the big data era and has many potential applications. [ABSTRACT FROM AUTHOR]

The development in Multi-Robot Systems (MRS) has become one of the most exploited fields of research in robotics in recent years. This is due to the robustness and versatility they present to effectively undertake a set of tasks autonomously. One of the essential elements for several vehicles, in this case, Unmanned Aerial Vehicles (UAVs), to perform tasks autonomously and cooperatively is trajectory planning, which is necessary to guarantee the safe and collision-free movement of the different vehicles. This document includes the planning of multiple trajectories for a swarm of UAVs based on 3D Probabilistic Roadmaps (PRM). This swarm is capable of reaching different locations of interest in different cases (labeled and unlabeled), supporting of an Emergency Response Team (ERT) in emergencies in urban environments. In addition, an architecture based on Robot Operating System (ROS) is presented to allow the simulation and integration of the methods developed in a UAV swarm. This architecture allows the communications with the MavLink protocol and control via the Pixhawk autopilot, for a quick and easy implementation in real UAVs. The proposed method was validated by experiments simulating building emergences. Finally, the obtained results show that methods based on probability roadmaps create effective solutions in terms of calculation time in the case of scalable systems in different situations along with their integration into a versatile framework such as ROS. [ABSTRACT FROM AUTHOR]