Vehicular Environment Identification Based on Channel State Information and Deep Learning.

This paper presents a novel vehicular environment identification approach based on deep learning. It consists of exploiting the vehicular wireless channel characteristics in the form of Channel State Information (CSI) in the receiver side of a connected vehicle in order to identify the environment type in which the vehicle is driving, without any need to implement specific sensors such as cameras or radars. We consider environment identification as a classification problem, and propose a new convolutional neural network (CNN) architecture to deal with it. The estimated CSI is used as the input feature to train the model. To perform the identification process, the model is targeted for implementation in an autonomous vehicle connected to a vehicular network (VN). The proposed model is extensively evaluated, showing that it can reliably recognize the surrounding environment with high accuracy (96.48%). Our model is compared to related approaches and state-of-the-art classification architectures. The experiments show that our proposed model yields favorable performance compared to all other considered methods.

Map-Matching-Based Localization Using Camera and Low-Cost GPS for Lane-Level Accuracy.

For self-driving systems or autonomous vehicles (AVs), accurate lane-level localization is a important for performing complex driving maneuvers. Classical GNSS-based methods are usually not accurate enough to have lane-level localization to support the AV's maneuvers. LiDAR-based localization can provide accurate localization. However, the price of LiDARs is still one of the big issues preventing this kind of solution from becoming wide-spread commodity. Therefore, in this work, we propose a low-cost solution for lane-level localization using a vision-based system and a low-cost GPS to achieve high precision lane-level localization. Experiments in real-world and real-time demonstrate that the proposed method achieves good lane-level localization accuracy, outperforming solutions based on only GPS.

A Multiscale Topographical Analysis Based on Morphological Information: The HEVC Multiscale Decomposition.

In this paper, we evaluate the effect of scale analysis as well as the filtering process on the performances of an original compressed-domain classifier in the field of material surface topographies classification. Each surface profile is multiscale analyzed by using a Gaussian Filter analyzing method to be decomposed into three multiscale filtered image types: Low-pass (LP), Band-pass (BP), and High-pass (HP) filtered versions, respectively. The complete set of filtered image data constitutes the collected database. First, the images are lossless compressed using the state-of-the art High-efficiency video coding (HEVC) video coding standard. Then, the Intra-Prediction Modes Histogram (IPHM) feature descriptor is computed directly in the compressed domain from each HEVC compressed image. Finally, we apply the IPHM feature descriptors as an input of a Support Vector Machine (SVM) classifier. SVM is introduced here to strengthen the performances of the proposed classification system thanks to the powerful properties of machine learning tools. We evaluate the proposed solution we called "HEVC Multiscale Decomposition" (HEVC-MD) on a huge database of nearly 42,000 multiscale topographic images. A simple preliminary version of the algorithm reaches an accuracy of 52%. We increase this accuracy to 70% by using the multiscale analysis of the high-frequency range HP filtered image data sets. Finally, we verify that considering only the highest-scale analysis of low-frequency range LP was more appropriate for classifying our six surface topographies with an accuracy of up to 81%. To compare these new topographical descriptors to those conventionally used, SVM is applied on a set of 34 roughness parameters defined on the International Standard GPS ISO 25178 (Geometrical Product Specification), and one obtains accuracies of 38%, 52%, 65%, and 57% respectively for Sa, multiscale Sa, 34 roughness parameters, and multiscale ones. Compared to conventional roughness descriptors, the HEVC-MD descriptors increase surfaces discrimination from 65% to 81%.