Dataset for trailer angle estimation using radar point clouds.

The automotive industry is interested in the estimation of vehicle trailer rotation (trailer angle or hitch angle) due to its use in trailer control algorithms. We present an experimental dataset collected in a study of the estimation problem [1] and a MATLAB code implementation of the study. The data collection apparatus is a truck mock-up that is attached to a flatbed trailer at the hitch ball. Two radars are installed in the taillight fixtures of the truck and a camera is installed in the truck's tailgate like a typical backup camera installation. A rotary motion sensor is also installed at the hitch ball to provide ground truth measurement of the trailer angle. To aid analysis of the dataset, both radar detections are transformed onto a vehicle coordinate system (VCS) having its origin at the hitch ball i.e. the different radar viewpoints are combined into one with respect to the hitch ball. The MATLAB code presented with this article has two major functionalities. The first functionality is the visualization of both radar detections, the combined radar detections in the VCS, the camera images, and the ground truth angles, as the trailer rotates. The second functionality of the code is the replication of the estimation results in [1], which used only the radar detections from the dataset.

Software for automated analysis of DNA fingerprinting gels.

Here we describe software tools for the automated detection of DNA restriction fragments resolved on agarose fingerprinting gels. We present a mathematical model for the location and shape of the restriction fragments as a function of fragment size, with model parameters determined empirically from "marker" lanes containing molecular size standards. Automated identification of restriction fragments involves several steps, including: image preprocessing, to put the data in a form consistent with a linear model; marker lane analysis, for determination of the model parameters; and data lane analysis, a procedure for detecting restriction fragment multiplets while simultaneously determining the amplitude curve that describes restriction fragment amplitude as a function of mobility. In validation experiments conducted on fingerprinted and sequenced Bacterial Artificial Chromosome (BAC) clones, sensitivity and specificity of restriction fragment identification exceeded 96% on restriction fragments ranging in size from 600 base pairs (bp) to 30,000 bp. The integrated suite of software tools, written in MATLAB and collectively called BandLeader, is in use at the BC Cancer Agency Genome Sciences Centre (GSC) and the Washington University Genome Sequencing Center, and has been provided to the Wellcome Trust Sanger Institute and the Whitehead Institute. Employed in a production mode at the GSC, BandLeader has been used to perform automated restriction fragment identification for more than 850,000 BAC clones for mouse, rat, bovine, and poplar fingerprint mapping projects.