scholarly journals Optimal Vehicle Pose Estimation Network Based on Time Series and Spatial Tightness with 3D LiDARs

2021 ◽  
Vol 13 (20) ◽  
pp. 4123
Author(s):  
Hanqi Wang ◽  
Zhiling Wang ◽  
Linglong Lin ◽  
Fengyu Xu ◽  
Jie Yu ◽  
...  
Keyword(s):  
Principal Component Analysis ◽  
Time Series ◽  
Pose Estimation ◽  
Point Cloud ◽  
Principal Component ◽  
Component Analysis ◽  
Evaluation Index ◽  
Evaluation Indexes ◽  
Learning Network ◽  
Estimation Algorithms

Vehicle pose estimation is essential in autonomous vehicle (AV) perception technology. However, due to the different density distributions of the point cloud, it is challenging to achieve sensitive direction extraction based on 3D LiDAR by using the existing pose estimation methods. In this paper, an optimal vehicle pose estimation network based on time series and spatial tightness (TS-OVPE) is proposed. This network uses five pose estimation algorithms proposed as candidate solutions to select each obstacle vehicle's optimal pose estimation result. Among these pose estimation algorithms, we first propose the Basic Line algorithm, which uses the road direction as the prior knowledge. Secondly, we propose improving principal component analysis based on point cloud distribution to conduct rotating principal component analysis (RPCA) and diagonal principal component analysis (DPCA) algorithms. Finally, we propose two global algorithms independent of the prior direction. We provided four evaluation indexes to transform each algorithm into a unified dimension. These evaluation indexes’ results were input into the ensemble learning network to obtain the optimal pose estimation results from the five proposed algorithms. The spatial dimension evaluation indexes reflected the tightness of the bounding box and the time dimension evaluation index reflected the coherence of the direction estimation. Since the network was indirectly trained through the evaluation index, it could be directly used on untrained LiDAR and showed a good pose estimation performance. Our approach was verified on the SemanticKITTI dataset and our urban environment dataset. Compared with the two mainstream algorithms, the polygon intersection over union (P-IoU) average increased by about 5.25% and 9.67%, the average heading error decreased by about 29.49% and 44.11%, and the average speed direction error decreased by about 3.85% and 46.70%. The experiment results showed that the ensemble learning network could effectively select the optimal pose estimation from the five abovementioned algorithms, making pose estimation more accurate.

Research for Structural Damage Identification Method Based on Stable Time Series and Principal Component Analysis

2014 ◽  
Vol 578-579 ◽  
pp. 1020-1023
Author(s):  
Jing Zhou Lu ◽  
Jia Chen Wang ◽  
Xu Zhu
Keyword(s):  
Principal Component Analysis ◽  
Time Series ◽  
Damage Detection ◽  
Structural Damage ◽  
Computing Time ◽  
Principal Component ◽  
Component Analysis ◽  
Identification Accuracy ◽  
Frame Structure ◽  
Ar Model

In this paper, we introduce a set of techniques for time series analysis based on principal component analysis (PCA). Firstly, the autoregressive (AR) model is established using acceleration response data, and the root mean squared error (RMSE) of AR model is calculated based on PCA. Then a new damage sensitive feature (DSF) based on the AR coefficients is presented. To test the efficacy of the damage detection and localization methodologies, the algorithm has been tested on the analytical and experimental results of a three-story frame structure model of the Los Alamos National Laboratory. The result of the damage detection indicates that the algorithm is able to identify and localize minor to severe damage as defined for the structure. It shows that the suggested method can lead to less amount of computing time, high suitability and identification accuracy.

scholarly journals Extracting Common Mode Errors of Regional GNSS Position Time Series in the Presence of Missing Data by Variational Bayesian Principal Component Analysis

Sensors ◽  
2020 ◽  
Vol 20 (8) ◽  
pp. 2298 ◽  
Author(s):  
Wudong Li ◽  
Weiping Jiang ◽  
Zhao Li ◽  
Hua Chen ◽  
Qusen Chen ◽  
...  
Keyword(s):  
Principal Component Analysis ◽  
Time Series ◽  
Missing Data ◽  
Principal Component ◽  
Component Analysis ◽  
Common Mode ◽  
Variational Bayesian ◽  
North East ◽  
Position Time Series ◽  
Gnss Position Time Series

Removal of the common mode error (CME) is very important for the investigation of global navigation satellite systems’ (GNSS) error and the estimation of an accurate GNSS velocity field for geodynamic applications. The commonly used spatiotemporal filtering methods normally process the evenly spaced time series without missing data. In this article, we present the variational Bayesian principal component analysis (VBPCA) to estimate and extract CME from the incomplete GNSS position time series. The VBPCA method can naturally handle missing data in the Bayesian framework and utilizes the variational expectation-maximization iterative algorithm to search each principal subspace. Moreover, it could automatically select the optimal number of principal components for data reconstruction and avoid the overfitting problem. To evaluate the performance of the VBPCA algorithm for extracting CME, 44 continuous GNSS stations located in Southern California were selected. Compared to previous approaches, VBPCA could achieve better performance with lower CME relative errors when more missing data exists. Since the first principal component (PC) extracted by VBPCA is remarkably larger than the other components, and its corresponding spatial response presents nearly uniform distribution, we only use the first PC and its eigenvector to reconstruct the CME for each station. After filtering out CME, the interstation correlation coefficients are significantly reduced from 0.43, 0.46, and 0.38 to 0.11, 0.10, and 0.08, for the north, east, and up (NEU) components, respectively. The root mean square (RMS) values of the residual time series and the colored noise amplitudes for the NEU components are also greatly suppressed, with average reductions of 27.11%, 28.15%, and 23.28% for the former, and 49.90%, 54.56%, and 49.75% for the latter. Moreover, the velocity estimates are more reliable and precise after removing CME, with average uncertainty reductions of 51.95%, 57.31%, and 49.92% for the NEU components, respectively. All these results indicate that the VBPCA method is an alternative and efficient way to extract CME from regional GNSS position time series in the presence of missing data. Further work is still required to consider the effect of formal errors on the CME extraction during the VBPCA implementation.

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