INTELLIGENT TRANSPORTATION SYSTEMS http://www.ieee.org/its IEEE ITS COUNCIL NEWSLETTER Editor: Prof. Alberto Broggi, [email protected]Vol. 5, No. 3, July 2003 In This Issue Council News 3 From the Editor ....................... 3 Calendar of Council Events ................. 3 Creating a Digital-Vehicle Proving Ground ........ 5 Vision in and out of Vehicles ................ 9 Award to Prof. ¨ Umit ¨ Ozg¨ uner ................ 14 Report on ITS Council Executive Committee Meeting .. 15 Report on IEEE Transactions on ITS ........... 15 Report: IEEE ITS Conference 2003 ............ 16 Preliminary announcement IEEE ITSC 2004 ....... 17 CFP: IEEE IV Symposium 2004 .............. 19 Non-Council ITS News 20 IEEE Intelligent Systems Magazine ............. 20 A Glimpse on the Web .................... 21 Upcoming Conferences, Workshops and Symposia ..... 22 CFP: IAV2004-5th IFAC Symposium on Intelligent Au- tonomous Vehicles ................... 23 CFP: Workshop on Intelligent Transportation ....... 24 Call for Participation: 2nd Intertraffic Innovation Award . 25 Web Archive All past issues of this Newsletter can be reached through the Council’s Official Web Site at: http://www.ieee.org/its Electronic Newsletter Subscription To obtain a free short announcement in your e-mail as soon as the next Newsletter issue is available, please sign in through the Council Web Site at: http://www.ieee.org/its ITSC Executive Committee ————– President: Charles J. Herget, [email protected]Immediate Past President: Daniel J. Dailey, . [email protected]Vice President Conferences: Paul Kostek, ..... [email protected]Vice President Publications: H. Hashimoto, . [email protected]Vice President Finance: William Scherer, [email protected]Vice President Technical Activities: Ichiro Masaki, . . . [email protected]Secretary: Emily Sopensky, [email protected]————– Transactions Editor: Chelsea C. White, [email protected]Newsletter Editor: Alberto Broggi, . . [email protected]Information for contributors ————– Announcements, feature articles, books and meetings reviews, opinions, letters to the editor, professional activities, ab- stracts of reports, and other material of interest to the ITS community is so- licited. Please submit electronic material for consideration in any of the fol- lowing formats: L A T E X, plain ASCII, PDF, or Word, to the Editor at [email protected]at least 1 month prior to the newsletter’s distribution: Issue Due date January December 1 st April March 1 st July June 1 st October September 1 st Permission to copy without fee all or part of any material without a copyright notice is granted provided that the copies are not made or distributed for direct commercial advantage, and the title of the publication and its date appear on each copy. To copy material with a copyright notice requires specific permission. Please direct all inquiries or requests to IEEE Copyrights Office. THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC.
Transcript
INTELLIGENTTRANSPORTATION
SYSTEMShttp://www.ieee.org/its
IEEE ITS COUNCIL NEWSLETTEREditor: Prof. Alberto Broggi, [email protected]
Vol. 5, No. 3, July 2003
In This Issue
Council News 3From the Editor . . . . . . . . . . . . . . . . . . . . . . . 3Calendar of Council Events . . . . . . . . . . . . . . . . . 3Creating a Digital-Vehicle Proving Ground . . . . . . . . 5Vision in and out of Vehicles . . . . . . . . . . . . . . . . 9Award to Prof. Umit Ozguner . . . . . . . . . . . . . . . . 14Report on ITS Council Executive Committee Meeting . . 15Report on IEEE Transactions on ITS . . . . . . . . . . . 15Report: IEEE ITS Conference 2003 . . . . . . . . . . . . 16Preliminary announcement IEEE ITSC 2004 . . . . . . . 17CFP: IEEE IV Symposium 2004 . . . . . . . . . . . . . . 19
Non-Council ITS News 20IEEE Intelligent Systems Magazine . . . . . . . . . . . . . 20A Glimpse on the Web . . . . . . . . . . . . . . . . . . . . 21Upcoming Conferences, Workshops and Symposia . . . . . 22CFP: IAV2004-5th IFAC Symposium on Intelligent Au-
All past issues of this Newsletter can be reached through theCouncil’s Official Web Site at: http://www.ieee.org/its
Electronic Newsletter Subscription
To obtain a free short announcement in your e-mail as soon asthe next Newsletter issue is available, please sign in through theCouncil Web Site at: http://www.ieee.org/its
Announcements, feature articles, booksand meetings reviews, opinions, lettersto the editor, professional activities, ab-stracts of reports, and other materialof interest to the ITS community is so-licited.
Please submit electronic materialfor consideration in any of the fol-lowing formats: LATEX, plain ASCII,PDF, or Word, to the Editor [email protected] at least 1 monthprior to the newsletter’s distribution:
Issue Due dateJanuary December 1st
April March 1st
July June 1st
October September 1st
Permission to copy without fee all or part of any material without a copyright notice is granted provided that the copies are notmade or distributed for direct commercial advantage, and the title of the publication and its date appear on each copy. To copymaterial with a copyright notice requires specific permission. Please direct all inquiries or requests to IEEE Copyrights Office.
THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC.
Finance Committee: Bill Scherer (Chair), Richard Klafter, Paul KostekConferences and Meetings Committee: Paul Kostek (Chair), T. F. Fwa, Michel Parent, Toshio Fukuda,
Roger Pollard, Fei-Yue Wang, Chelsea WhiteNominations and Appointments Committee: Daniel Dailey (Chair), Rye Case, Umit OzgunerConstitution and Bylaws Committee: Rye Case (Chair), Charles Herget, Umit Ozguner, Chip WhiteTechnical Activities Committee: Ichiro Masaki (Chair), Anna Hauksdottir (subcommittee on Air Traf-
fic), Ryuji Kohno (subcommittee on Communication Networks), Bin Ning (subcommittee on Railroads)Standards: Robert BarrettLong Term Planning: Umit OzgunerFellows Nomination Committee: Richard KlafterEducation Outreach: Benn Coifman
Page 2 THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC.
IEEE Intelligent Transportation Systems Council Newsletter Vol. 5, No. 3, July 2003
Council News
From the Editorby Alberto Broggi
Dear colleague,in the current issue you will find two feature articles, and the usual information about our main publication
(the IEEE Transactions on ITS), next meetings/conferences/workshops on ITS-related topics, and pointersto many interesting web resources. Some information about our Council’s activities are also provided.
This issue also includes a short report from our flagship conference regarding SARS probelms: many ofyou will be happy to see that the IEEE ITS Conference in Shanghai will take place as originally scheduled.
If you have announcements or comments you would like to share, please contact me at [email protected] hope you will enjoy your new issue of the IEEE ITS Council Newsletter. Please send comments and sug-gestions to me as well.
Page 4 THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC.
IEEE Intelligent Transportation Systems Council Newsletter Vol. 5, No. 3, July 2003
Creating a Digital-Vehicle Proving Groundby Fei-Yue Wang, Xiaojing Wang, Li Li, Pitu Mirchandani
Creating a Digital-Vehicle Proving Ground
Reprint of the article appeared inIEEE Intelligent Systems, March-April 2003, p.12–15
Fei-Yue Wang is a professor in the University of Arizona’s Systems & Industrial EngineeringDepartment and the director of the University’s Program for Advanced Research for Complex Sys-tems. He is also the director of the Intelligent Control and Systems Engineering Center at the Chi-nese Academy of Sciences’ Institute of Automation. Contact him at [email protected].
Xiaojing Wang is the director of the National Center for Intelligent Transportation Systemsand Engineering and the associate director of the Research Institute of Highway Systems, Beijing.His main research interest is in intelligent transportation systems, especially intelligent-vehicletechnology, standards, and policies. He received his BS and MS from the National DefenseUniversity, Changsha, China. Contact him at [email protected].
Li Li is a doctoral student in the University of Arizona’s Systems and Industrial EngineeringDepartment.
Pitu Mirchandani is the Salt River Project Professor of Technology at the University of Arizonaand has joint appointments in the university’s Systems & Industrial Engineering Department andElectrical & Computer Engineering Department. Contact him at the Systems & Industrial Eng.Dept., Univ. of Arizona, Tucson, AZ 85721; [email protected].
The Chinese automotive industry has becomean important component of the worldwide automo-tive industry. According to the leading Chinese news-paper, People’s Daily (25 Dec. 2002), the Chineseautomotive industry has established more than 600joint ventures and introduced 1,000 foreign technicalinventions over the last 20 years. The total foreigninvestment has exceeded US$20 billion, more than 40percent of the total Chinese automotive capital. The2001 output reached 2.34 million vehicles, up from0.71 million in 1991. This is a 3.3-fold increase and a15 percent average annual increase, compared to the1.5 percent annual increase worldwide in the sameperiod. The 2002 output was 3.25 million vehicles.
The driving force for the Chinese automotive in-dustry is passenger cars, whose production increasedfrom 81,000 in 1991 to 700,000 in 2001, a 8.7-foldincrease and a 24 percent annual increase. The Na-tional Information Center estimates that in 2003 thedemand for passenger cars in China will be 1.5 mil-lion: 1.435 million domestic cars, an increase of 26.4percent, and 90,000 imports (International Finance
News, 17 Dec. 2002). The Chinese automotive in-dustry has a 5 percent share of the worldwide au-tomobile market; its share should reach 20 percentby 2020, assuming a 5 percent annual increase anda total output of 10 million vehicles. Figure 1 showsChina’s automobile output from 1990 to 2002.
The Chinese automotive industry’s rapid growthdemands an increased, enhanced effort in R&D in ve-hicular technology, reliability, quality, safety, humancomfort, and environmental impact. In 1999, Chinacreated its National Center of Intelligent Transporta-tion Systems Engineering and Technology (the ITSC)and established the National Field Testing Com-plex (NFTC), a state-of-art, comprehensive facilityin Tong County, Beijing. One major task for theITSC is R&D in intelligent-vehicle technology to en-hance safety, reliability, and performance. The Com-plex Systems and Intelligence Science Lab at the In-stitute of Automation, Chinese Academy of Sciences,has started a similar initiative. Since the early 1990s,the University of Arizona’s ATLAS (Advanced Trafficand Logistics Algorithms and Systems) and PARCS(Program for Research for Advanced Systems)
THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC. Page 5
Vol. 5, No. 3, July 2003 IEEE Intelligent Transportation Systems Council Newsletter
Figure 1: Automobile output in China from 1990 to 2002. (information source: Chinese Associationof Automobile Manufacturers)
research centers have also made significant progressin ITS, particularly in vehicle technology, as demon-strated by the VISTA (Vehicles with Intelligent Sys-tems for Transport Automation) and digital-highwayprojects [1,2]. To combine their strengths, in 2002the ITSC, the Chinese Academy of Sciences, and theUniversity of Arizona agreed to conduct joint researchon a digital automobile proving ground (DAPG) forautomated-vehicle driving tests based on their Bei-jing and Tucson facilities. Here we describe this in-ternational collaboration’s status and progress.
Figure 2: A bird’s-eye view of the National FieldTesting Complex.
Field-testing a complex DAPG
Figure 2 is a bird’s-eye view of the NFTC. Morethan 400 million yuan (approximately US$60M) hasbeen invested in this facility for design and testingequipment. It serves mainly as a proving groundfor R&D prototype testing in ITS technology andan evaluation and certification center for commercialtransportation and vehicle products. The interna-tional collaborators will use this complex to build ahighly automated DAPG that provides test, engineer-ing, and simulation services to a broad range of ve-
hicle developers, manufacturers, and users, and gov-ernment agencies. The first phase (2002-2005) willset up a proof-of-concept system at the NFTC. Thesystem has these main purposes:
• Achieve reliable, qualitative, and repeatabletesting results by eliminating variability due tohuman operations and reducing other varyingfactors.
• Release human drivers from dull and hazardousvehicle-testing tasks.
Figure 3: The layout of the digital automobileproving ground.
Figure 3 presents the DAPG layout. The DAPG’scompletion will involve these key issues and technolo-gies:
• Offline and real-time digital geographical infor-mation systems
• High-precision differential GPS• A surface bar code calibration system• An in-vehicle navigation system• A vehicle-testing robot• Data acquisition• Wireless communication• A control and command center
Page 6 THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC.
IEEE Intelligent Transportation Systems Council Newsletter Vol. 5, No. 3, July 2003
Figure 4: The DAPG’s (a) Communication Center and (b) Control & Command Center.
• Task-generating, planning, scheduling, andsafety assurance systems
The communication and control & command cen-ters
The field-testing complex is about 70 miles fromthe research facilities at the Chinese Academy of Sci-ences and the Research Institute of Highway. TheCommunication Center (CC-see Figure 4a) provideswireless communication capabilities to those remotefacilities and the local testing vehicles at the DAPG.The Control & Command Center (CCC-see Figure4b) implements and monitors vehicle-testing taskplanning, generation, scheduling, and execution.
Figure 5: The DAPG system architecture.
A wireless (based on IEEE 802.11b) LAN thatcovers the testing area connects the field vehicles andsurface equipment to the CC network via a networkaddress translation box that keeps the set of local IPaddresses invisible from outside the LAN. Currently,a set of laptops and computers serves as the gate-
way to link field vehicles, vision systems, and surfaceequipment to the CC network. Embedded commu-nication capacity will be added later. For real-timemanagement and operation, the DAPG uses a sim-ple protocol to send and receive control and feedbackinformation between the CCC and fixed and movingequipment in the field.
A system architecture for testing automated vehi-cles
Figure 5 shows the DAPG system architecture.The CCC uses a bar-code-based surface-coordinatesystem, magnetic nails, differential GPS, and in-vehicle navigation systems to track the vehicles onthe DAPG. As we mentioned before, it also pro-vides communication and control information to andamong them. Each vehicle has a unique wireless ID.The CCC instructs and monitors each vehicle’s move-ment for various driving tests. Each vehicle is con-sidered an autonomous agent, equipped with variousin-vehicle sensors and a driving-test robot, and com-municating with the CCC and various surface sen-sors. The driving-test robot collects information fromboth the in-vehicle and surface sensors and decides itsdriving actions on the basis of its testing task underthe CCC’s guidance and supervision [3].
The generation of testing tasks can be interactiveor passive. In interactive generation, the CCC gen-erates the task under operator instruction. In pas-sive generation, the CCC chooses a preprogrammedtask according to a task schedule. Normally, routine,repetitive tests will use passive generation.
The testing tasks fall into two groups. The firstcomprises standard driving tests:
• Tests for steering input, steering effort, lane
THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC. Page 7
Vol. 5, No. 3, July 2003 IEEE Intelligent Transportation Systems Council Newsletter
changes, steady-state cornering, and other re-lated vehicle dynamics, normally involvingshort distances on good-condition roads
• Vehicle durability tests on special roads andsurfaces, normally involving long distances onpoor-condition roads
• Traction-control tests that evaluate and opti-mize tire and suspension performance over arange of conditions
The second comprises special driving tests:
• An accelerated vehicle corrosion test, which oc-curs mainly in a special chamber
• Low-friction tests for antilock braking systems,which are mainly for global brake certificationand are in conjunction with the traction controltest and an all-wheel-driving test
For each test, special driving trajectory and robotcontrol sequences are planned and produced.
Seven projects on wireless communication,robotic driving, in-vehicle sensory fusion, on-field cal-ibration, trajectory generation, test-task planning,and system control and monitoring have been sched-uled for the DAPG. The first application to assessDAPG’s effectiveness will be the accelerated testingof a special tire design’s driving performance.
Acknowledgments
This work is supported partly by the US Depart-ment of Transportation, the Knowledge InnovationProject, the 863 Hi-Tech Project, the National KeyProject in ITS, the Outstanding Oversea ScientistProgram, the National Young Outstanding ScientistResearch Award from the Chinese Academy of Sci-ences, the PRC Ministry of Science and Technology,and the Chinese National Science Foundation.
References
1. F.-Y. Wang, Z.X. Wang, and P.B. Mirchan-dani, ”The VISTA Project and Its Applica-tions,” IEEE Intelligent Systems, vol. 17, no.6, Nov./Dec. 2002, pp. 72-75.
2. F.-Y. Wang, G. Lai, and P.B. Mirchandani,”Deployment of Digital Vehicle/Highway Tech-nology for Safety Enhancement,” to be pub-lished in Proc. IEEE Int’l Intelligent VehiclesSymp., IEEE Press, 2003.
3. F.-Y. Wang, Design of Test Driving Robotsand Automated Vehicle Proving Ground, IC-SEC Tech. Project 0602, Inst. of Automation,Chinese Academy of Sciences, 2002.
The
Newsletter
who receive the IEEE ITSC newsletter each quarter
Join the 12,000+ subscribers
For your FREE subscription,enter your address onlineat www.ieee.org/itsc
IEEE Intelligent Transportation Systems CouncilPa
st is
sues
are
ava
ilabl
e fo
r dow
nloa
d at
:
the
offic
ial I
EEE
ITS
Web
ser
ver:
http
://ww
w.ie
ee.o
rg/it
sc
the
italia
n m
irror
site
: http
://its
.ce.
unip
r.it
The
NewsletterIEEE Intelligent Transportation Systems Council
who receive the IEEE ITSC newsletter each quarter
Join the 12,000+ subscribers
For your FREE subscription,enter your address onlineat www.ieee.org/itsc
Join
us
for F
REE
Give
you
r ide
as a
bro
ad a
nd p
rofe
ssio
nal a
udie
nce
Page 8 THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC.
IEEE Intelligent Transportation Systems Council Newsletter Vol. 5, No. 3, July 2003
Vision in and out of Vehiclesby Luke Fletcher, Nicholas Apostoloff, Lars Petersson, and Alexander Zelinsky
Vision in and out of Vehicles
Reprint of the article appeared inIEEE Intelligent Systems, May-June 2003, p.12–17
Luke Fletcher is a PhD candidate in engineering at the Robotic Systems Laboratory. Con-tact him at the Robotic Systems Laboratory, Dept. of Systems Eng., Research School of In-formation Sciences and Eng., Australian National University, Canberra, ACT 0200 Australia;[email protected].
Nicholas Apostoloff is a PhD candidate in engineering at the University of Oxford’s VisualGeometry Group. He previously was a master’s student at the Australian National Universityresearching vision-based lane tracking. Contact him at the Visual Geometry Group, Universityof Oxford, Oxford, UK; [email protected].
Lars Petersson is a postdoctoral research fellow at the Robotic Systems Laboratory. Con-tact him at the Robotic Systems Laboratory, Dept. of Systems Eng., Research School of In-formation Sciences and Eng., Australian National University, Canberra, ACT 0200 Australia;[email protected].
Alexander Zelinsky is a professor of systems engineering in the Australian National Uni-versity’s Research School of Information Sciences and Engineering, where he leads a researchteam working on intelligent vehicles, mobile robotics, and human-machine interaction. He isalso the CEO of Seeing Machines. Contact him at the Robotic Systems Laboratory, Dept. ofSystems Eng., Research School of Information Sciences and Eng., Australian National University,Canberra, ACT 0200 Australia; [email protected].
With its wide roads and low congestion, Can-berra, Australia, has relatively few serious accidents.However, two recently occurred. In the first, a preg-nant woman died in her car while waiting at an in-tersection. Her baby daughter was delivered sevenweeks early by emergency Caesarian section and is incritical condition. The girl’s 10-month-old brother,who was in a child restraint in the backseat, is alsoin critical condition. The accident happened when acar, thought to have been traveling at up to 80 kmph(the speed limit), failed to stop. Days later, anotherfatality occurred-this time a truck driver. The truckleft its lane, jumped the guard rail, and hit an em-bankment. Both accidents happened in fine drivingconditions on the city’s edge.
Perhaps the drivers could have avoided these ac-cidents if they had received a warning about the im-pending situation. Almost every driver has experi-enced a warning from a passenger, perhaps about an
obscured car while merging or a jaywalking pedes-trian in a blind spot. Such warnings could save count-less lives every day.
We believe that, in the near future, such assis-tance will come from the vehicle itself. Many ve-hicles already employ computer-based driver assis-tance in the form of antilock braking systems or adap-tive engine management systems. However, morethan a decade after autonomous-system technologiesemerged, systems such as those that Universitat derBundeswehr Munich [1] and Carnegie Mellon Univer-sity’s NavLab group [2] developed have not been real-ized commercially. A key distinction between existingsystems and promising R&D systems is driver and ve-hicle manufacturer acceptance. Because a paradigmshift to autonomous vehicles is unlikely, intelligent-vehicle technologies must make it to the road by sub-systems instead. These subsystems should solve asmall, well-defined task that supports, not replaces,the driver.
THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC. Page 9
Vol. 5, No. 3, July 2003 IEEE Intelligent Transportation Systems Council Newsletter
Figure 1: The Transport Research ExperimentalVehicle uses two vision platforms: the CeDAR(Cable Drive Active Vision Robot) active-vision headand faceLAB passive stereo cameras.
At the Australian National University’s Intelli-gent Vehicle Project, we are developing such subsys-tems for
• Driver fatigue or inattention detection• Pedestrian spotting• Blind-spot checking and merging assistance to
• Driver feedback for lane keeping• Computer-augmented vision (that is, lane
boundary or vehicle highlighting on a head-updisplay)
• Traffic sign detection and recognition• Human factors research aids
Systems that perform such supporting tasks aregenerally called driver assistance systems. Althoughwe can’t know the actual circumstances of the acci-dents we mentioned earlier, we believe that imple-menting DAS could prevent similar accidents or atleast reduce their severity.
DAS goals
Robustness is of paramount importance for sys-tems in cars driven on public roads. Solutions tosensing and detection problems must be reliable. For-tunately, roads are designed to be high contrast, pre-dictable in layout, and governed by simple rules.This makes the sensing problem somewhat easier, al-though by no means trivial. Complementary sensors
and algorithms can reduce a catastrophic failure’slikelihood, but robust systems must incorporate per-formance metrics and graceful failure modes from thestart. Systems must be operable in all driving envi-ronments.
Figure 2: The Distillation visual-cue-processingframework. On the left, visual cues execute on thebasis of merit and available computational resources;on the right, a particle filter combines the results.
This means systems must be able to handle urbanenvironments as well as highways. Urban environ-ments have proved difficult owing to an explosion inthe diversity of road scenarios and the lower signal-to-noise ratio of content in cluttered urban scenes. Hu-man drivers rely much more extensively on predictingthe behavior of other road users and pedestrians inthese scenarios than in highway situations. Thesepowers of higher reasoning, which often involve mak-ing eye contact with other road users, are not easilymodeled and will not come easily to AI systems.
As with most computer vision problems, DAS sys-tems that work 80 to 90 percent of the time are or-ders of magnitude simpler to implement than sys-tems that work 96 to 99 percent of the time. Sys-tem designers often face choosing a pedantic systemthat continually reports false positives or an under-confident system that must continually admit that itcan’t help at the moment. The ANU Intelligent Vehi-cle Project addresses this dilemma by observing thedriver. Monitoring the driver-particularly where thedriver is looking-can avoid many interruptions. Thatis, if the driver is looking at a potential problem oran uncertain area in the road scene, a warning is ir-relevant. This strategy is based on DAS’s higher goalto assist drivers by informing them of occurrences ofwhich they might not be aware, not second-guessingdrivers’ choices when they are paying attention. So,in a complex traffic scene, as long as the driver hasnoted an identified hazard, such as an overtaking car,or an unpredictable hazard, such as wandering pedes-trian, the system gives no alert.
Finally, driver assistance systems must also be
Page 10 THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC.
IEEE Intelligent Transportation Systems Council Newsletter Vol. 5, No. 3, July 2003
Figure 3: Lane tracker results. Yellow lines indicate the estimated lane boundary. Tracking isrobust against shadows, obstacles, and misleading lines on the road.
• Intuitive. Their behavior makes immediatesense in the context of the standard drivingtask.
• Nonintrusive. They don’t distract or disruptthe driver unless they deem it necessary.
• Overridable. The driver has ultimate controland can refuse assistance.
The Transport Research Experimental Vehicle
The Intelligent Vehicle Project’s platform is theTransport Research Experimental Vehicle, a ToyotaLand Cruiser with a variety of sensors and actuatorsthat support various ITS-related research. Visionis the primary sense used on board TREV, whichincorporates two major systems (see Figure 1). AnANU-developed CeDAR (Cable Drive Active VisionRobot) stereo active camera platform, which replacesthe rearview mirror, monitors the road scene in frontof the vehicle. This system lets the cameras rotateleft and right independently on a shared tilt axis.
To monitor the driver, TREV uses a dashboard-mounted faceLAB head-and-eye-tracking system(www.seeingmachines.com/technology/faceLAB.htm).
TREV also includes the typical range of vehicle-monitoring devices: Global Positioning System tech-nology, inertial-navigation sensing, and speed andsteering-angle sensors. Throttle and steering ac-tuators support lane-keeping and automatic-cruise-control-style experiments.
Robustness through intelligent use of visual in-formation
Despite many impressive past results in visualprocessing, no single visual-processing method canperform reliably in all traffic situations. Achievingstable vision-based subsystems will require execut-ing multiple image-processing methods and selectingthem on the basis of the prevailing conditions. Wehave developed Distillation, a visual-cue-processingframework that lets us deal with such robustness is-sues. Distillation combines a visual-cue-scheduling
THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC. Page 11
Vol. 5, No. 3, July 2003 IEEE Intelligent Transportation Systems Council Newsletter
and data fusion system with a particle filter (see Fig-ure 2). (Particle filtering is also known as the con-densation algorithm or Monte Carlo sampling algo-rithm.) Distillation lets us
• Combine visual cues on the basis of Bayesiantheory
• Allocate computational resources over the suiteof visual cues on the basis of merit
• Employ top-down hypothesis testing instead ofreconstructive techniques that are often poorlyconditioned
• Integrate visual-cue performance metrics sothat we can safely deal with deteriorating per-formance
• Combine visual cues running at different framerates
We have also demonstrated Distillation for indoorpeople tracking [3].
As part of the Intelligent Vehicle Project, we havedeveloped two applications that exploit the Distilla-tion framework: one for lane tracking and one forobstacle detection and tracking.
Lane tracking
This application combines visual cues such asedges for finding lane marks and road color consis-tency with cues based on physical-world constraintssuch as vanishing points and plausible road shapes.From these cues, it distills a winning hypothesis ofthe vehicle’s position with respect to the road andthe geometry of the road ahead.
The Distillation framework reduces the lanetracker’s search space. Distillation concurrently esti-mates the road width, the vehicle’s lateral offset fromthe road’s centerline, and the vehicle’s yaw with re-spect to the centerline. The application estimates thehorizontal and vertical road curvature in the far field.
Figure 3 shows the lane tracker’s output in severalsituations using four different cues.
Obstacle detection and tracking
This application has three main levels. The mostprimitive level uses a set of ”bottom up” whole-imagetechniques to search the image space for likely obsta-cle candidates. This level primarily uses stereo dis-parity and optical flow. Although the disparity and
Figure 4: Obstacle detection and tracking: (a) theleft image from a stereo pair; (b) a 3D surface fromstereo disparity (the rectangle indicates the region of3D depth flow); (c) 3D depth flow.
flow information are very noisy, we can combine themto form a 3D depth flow field (see Figure 4). We canthen use this field to coarsely segment for potentialobstacles using clustering of 3D-flow vectors in thenear to medium range.
We can also use color consistency to derive possi-ble obstacle candidates.
The application injects sets of particles represent-ing each obstacle candidate into the particle filterstate space inside the Distillation framework. Dis-tillation then tracks the obstacles between frames.
Page 12 THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC.
IEEE Intelligent Transportation Systems Council Newsletter Vol. 5, No. 3, July 2003
Robustness through driver monitoring
Driver monitoring can
• Reduce false alarm rates.• Directly detect driver fatigue through head
slumping and prolonged eye closure [4].• Detect driver inattention to the road scene in
general or particular regions.• Direct DAS attention: ”The driver is looking in
a particular direction; why?”
If we augment driver monitoring with informationabout the vehicle and traffic state, we can make ad-ditional inferences about the driver. For example, bycorrelating automated lane tracking and driver gazemonitoring, we can eliminate considerable tedious-ness from human-factors style experiments.
Seeing Machines developed the faceLAB driver-monitoring system in conjunction with ANU andVolvo Technology Corporation. FaceLAB uses a pas-sive pair of cameras to capture video images of thedriver’s head. It then processes these images in realtime to determine the 3D pose of the person’s face(+/- 1 mm, +/- 1 degree) as well as the eye gaze di-rection (+/- 3 degrees), blink rates, and eye closure.Figure 5 shows the experimental setup.
Figure 5: The integration of lane tracking withdriver eye gaze tracking. The top left shows the lanetracker’s output. The top right shows the video cam-era arrangement. The bottom shows segmentation ofthe field of view for analysis.
The results in Figure 6 show a clear directionalbias based on the prevailing road curvature. That is,when driving on a road that curves to the right, thedriver focuses more on objects on that side, and viceversa. Figure 7 shows a strong correlation betweenthe vehicle yaw angle from the lane tracker and the
gaze direction. That is, the driver is more likely toveer in the direction is which he or she is gazing.
Figure 6: Proportions of viewing direction on leftand right curvature roads. When driving on a roadthat curves to the right, the driver focuses more onobjects on that side, and vice versa.
Figure 7: Reconciliation between gaze direction andvehicle yaw angle. The driver is more likely to veerin the direction in which he or she is gazing.
These preliminary results seem to indicate thatsome of the assumptions about driver gaze that weencapsulated into our subsystems seem justifiable.(For example, two common assumptions are thatdrivers tend to gaze at the inner edge of curves inthe road ahead and that drivers periodically glance[not stare] at the lane of oncoming traffic.) One suchsubsystem under development is a lane-keeping sys-tem that applies a restorative force to the steeringwheel if the car approaches the lane boundaries. Ifthe driver looks as if he or she is preparing to changelanes, the subsystem reduces this corrective force inthe relevant direction until the lane change is com-
THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC. Page 13
Vol. 5, No. 3, July 2003 IEEE Intelligent Transportation Systems Council Newsletter
plete.The Intelligent Vehicle Project is still in its early
days. Vehicle and pedestrian detection, blind-spotmonitoring, and road-sign detection are all in thepipeline, as are new interfacing systems and context-relevant driver feedback systems such as force feed-back and auditory signals.
The need for such driver assistance subsystems isreal. Until each vehicle comes with its own inbuilt setof vigilant passengers, may the number of lives lostbe low.
References
1. E.D. Dickmanns and A. Zapp, ”AutonomousHigh Speed Road Vehicle Guidance byComputer Vision,” Automatic Control-World
Congress, 1987: Selected Papers from the 10thTriennial World Congress of the Int’l Federa-tion of Automatic Control, Pergamon, 1987, pp.221-226.
2. C. Thorpe, Vision and Navigation: TheCarnegie Mellon NavLab, Kluwer AcademicPublishers, 1990.
3. G. Loy et al., ”An Adaptive Fusion Architec-ture for Target Tracking,” Proc. 5th Int’l Conf.Automatic Face and Gesture Recognition, IEEECS Press, 2002, pp. 261-266.
4. N.L. Haworth, T.J. Triggs, and E.M. Grey,Driver Fatigue: Concepts, Measurement andCrash Countermeasures, Federal Office of RoadSafety Contract Report 72, Human FactorsGroup, Dept. of Psychology, Monash Univ.,1988.
Prof. Umit Ozguner receives the International Zhu KezhenLectureship Award
by Fei-Yue Wang
Professor Umit Ozguner (left) was named for the International Zhu Kezhen Lectureship Award for hiscontribution to the 1999 International Workshop on Intelligent Transportation Systems sponsored by theAmerican Zhu Kezhen Education Foundation.
The Award which carried $2000 and travel ex-
Prof. Umit Ozguner (left) receives the award from Prof.Fei-Yue Wang (right); photo courtesy E.Sopensky
penses to Zhejiang University, Hangzhou, China.Zhejiang University is one of the best universitiesin China. Dr. Zhu Kezhen was the first Harvard-educated Chinese PhD, a pioneer of modern sci-ence in China, the President of Zhejiang Univer-sity for 14 years, and one of founders of ChineseAcademy of Sciences and its Senior Vice Presi-dent for many years. The American Zhu KezhenEducation Foundation (AZKEF) was establishedin 1995 in USA and currently one of the largestnon-profit Chinese American Education Founda-tions. Professor Fei-Yue Wang (right or left) isAZKEF’s founding director and Vice President forAcademic Affairs.
Page 14 THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC.
IEEE Intelligent Transportation Systems Council Newsletter Vol. 5, No. 3, July 2003
Report on ITS Council Executive Committee Meetingby Emily Sopensky
IEEE Intelligent Transportation Systems CouncilJune 9, 2003 Executive Committee Meeting
The Executive Committee of the IEEE ITS Council met June 9, 2003 in Columbus, Ohio during the IV 2003Symposium. The following is a brief summary:
• The committee decided to formally pursue transforming the council to a society.
• The search committee for a new editor-in-chief of the Transactions on ITS has made a choice, whichwill be announced before the end of the summer.
• A representative from the Boeing Company discussed ITS initiatives
• The ITSC2003 conference chair reported receiving 486 papers, 75% from China. The conference willbe held Oct 12-15 in Shanghai.
• ITSC2004 Conference Committee will meet in Washington, D.C. with representatives of the ITSC2005and ITSC2007 to develop methods for conference continuity.
The next Excom meeting is a teleconference to be held October 1, 2003.
Report on IEEE Trans. on Intelligent Transportation Systemsby Chelsea C. White
We have received a number of applications from those interested in becoming associate editors for theTransactions. The following individuals have accepted our invitations to become associate editors: BaherAbdulhai, Mark Brackstone, Alan Erera, Roy Goudy, Der-Horng Lee, Markos Papageorgiou, and NikolaosPapanikolopoulos. Additional invitations will be extended to other applicants in the near future. The namesof new associate editors will appear on the inside front cover of the next issue.
We would like to remind potential authors that we now accept electronic submissions only. Submissionsshould be made through the IEEE ITS Manuscript Central website. All electronic submissions should bemade through the IEEE Manuscript Central. We have seen an increase in submissions since the websitebegan accepting papers. We hope that this trend will continue. The website is easier to use and shouldshorten the review process considerably.
Authors of revised papers should submit their revisions via the Manuscript Central website. Whenuploading your manuscript, please indicate that your paper is a revised version of a previously submitted
THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC. Page 15
Vol. 5, No. 3, July 2003 IEEE Intelligent Transportation Systems Council Newsletter
manuscript in the comments to editor-in-chief/editor section of the uploading process. Please provide thepaper number of any previous versions of the paper in this section as well.
Information regarding requirements for electronic submission of papers can be found on the Transactionswebsite at http://www.ewh.ieee.org/tc/its/trans.html. Authors may submit papers through the Transactionson ITS Manuscript Central website by clicking on the link ”Submit papers” to be found on the Transactionsweb page or by going to http://its-ieee.manuscriptcentral.com.
Technical problems experienced during loading papers may be solved by contacting the IEEE SupportStaff at [email protected]. Other questions or problems regarding submissions should be directedto the journal administrator, Jerri White at [email protected]. Authors can track the progress of thereview process by loggin into their author centers.
Authors of accepted papers will now find information for authors of accepted papers on the Transactionswebsite. This information was previously provided in the author kits sent with acceptance letters. Pleasenote that final manuscripts still must be submitted in hard copy form.
The Council on ITS has authorized a new category of papers for the Transactions. The Transactionswill now accept technical correspondence papers in addition to regular papers and reviews. Technical corre-spondence papers should be no more than 6 published pages in length. For additional information, see theInformation for Authors on the website.
Please note that publication of Vol. 4, No. 2 is running behind schedule.
Report: IEEE Intelligent Transportation Systems Conf. 2003by Fei-Yue Wang
June 17, 2004
Based on the decision by the IEEE ITS Council’s Executive Meeting, held on June 9, 2003 at Columbus,OH, the IEEE ITSC’03 will proceed according to the original schedule in Shanghai, China.
I know everyone is concerned with the SARS situation in China, and Shanghai particularly. The risk toSARS in China seems to have abated recently, thanks to the global effort in controlling SARS. There havebeen no new confirmed cases in Shanghai since May 22. Shanghai is currently not on the travel warning listof the WHO. However, we will be closely monitoring the SARS situation in Shanghai and the travel advisoryof the WHO. We will notify you immediately of any new developments and the recommendations from theWHO that would affect our conference. For further information and Q&A, please refer to the WHO websiteor http://www.who.int/csr/sars/en/.
Thanks for your contribution, we have received over 500 submissions for regular papers and invitedsessions. Each paper has been assigned for review by three IPC members and at most 350 papers wouldbe accepted for the conference. Due to the unexpected large number of submission and the SARS issue,over 50% of the submitted papers are still under review, the decision for those papers will be completedbefore July 1, 2003. We apologize for this delay. However, IPC and I will make the best effort to ensurethe Shanghai Conference a record breaking, safe, successful and enjoyable one in the IEEE ITSC history. Iwould also like to take this opportunity to announce the followings:
Page 16 THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC.
IEEE Intelligent Transportation Systems Council Newsletter Vol. 5, No. 3, July 2003
1. A special issue on the IEEE Transactions on ITS will be edited based on the papers presented at theIEEE ITSC’03;
2. A book on Advanced ITS Research will be edited for the Series on Intelligent Control and IntelligentAutomation;
3. A Best Conference Paper and Three Best Student Papers will be selected by an Award SelectionCommittee from the papers presented at the IEEE ITSC’03. Cash award of $1000 each and certificateplaques will be issued, thanks to the financial contribution from CASIC Inc and the PARCS Program.
All of you, especially the students, are encouraged to attend the conference and participate in these activ-ities. Finally, due to the SARS problem, a new contract with the conference hotel has to be signed. The finalarrangement regarding the conference site will be announced soon at our website http://www.ieeeitsc.org,as well as the detailed procedure regarding the registration.
I am looking forward to seeing all of you in Shanghai in October.
Preliminary announcement IEEE ITSC 2004by Paul Kostek
The 7th International IEEE Conference on Intelligent Transportation Systems
Washington, D.C., October 2004
Advances in Intelligent Transportation Systems
The IEEE Intelligent Transportation Systems Council (ITSC) is sponsoring a conference on basic researchand applications of leading advances in information technology, modeling and data analysis, technology, andapplications related to Intelligent Transportation Systems (ITS).
PROGRAM TOPICSInformation Technology for ITS
• Computers (hardware, software, networks, wireless)• Human-Computer-Interface (displays, artificial speech)• Information Systems (databases, data archiving, data management, quality assurance)• Security (hardware, software, communications, risk analysis, information assurance)• Geographic Information Systems (real-time traffic, planning)• Software Engineering (processes, metrics)• ITS Systems Integration• Wireless/Location-Based Services Applications
Systems Analysis and Modeling for ITS
• Intelligent Data Analysis (statistical modeling, data mining, forecasting, data fusion)• Simulation Models (continuous, discrete, real-time)• Optimization Modeling (routing, route guidance)
THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC. Page 17
Vol. 5, No. 3, July 2003 IEEE Intelligent Transportation Systems Council Newsletter
• Decision Systems (expert systems, intelligent agents)• Traffic Theory for ITS (capacity analysis, safety)• Economic Analysis Models (cost/benefit, life-cycle, performance evaluation)• Control Theory (traffic networks, vehicular)
ITS Technology
• Communications• Vehicle Control• Air Traffic Control• Port and Terminal Automation• Navigation and Guidance Systems• Reliability and Quality Assurance• Signal Processing• Imaging and Image Analysis• Sensors (infrastructure and vehicle based)• Standards for ITS Technology• Transit Systems
Proposals for Special Sessions and for Tutorials are invited and should be forwarded [email protected].
Paper SubmissionComplete manuscripts in PDF format must be electronically submitted for review no later than February
15, 2004 at the following address: To Be Announced.Submitted manuscripts must be no longer than six (6) pages in IEEE two-column format, including figure
and references. Manuscripts exceeding this length limit may be rejected without review. A LaTex style fileand a Microsoft Word template are available from the IEEE web site,
www.ieee.org/organizations/pubs/authors.htmlHOWEVER, submission MUST be in PDF Format.
In addition to the manuscript, a cover page should be sent that includes:
1. the title of the paper2. the name(s) of the author(s)3. the technical categories4. the name, mailing address, telephone and fax number, and email address of the contact author.
Notification of acceptance is scheduled for May 1, 2004
IEEE Intelligent Transportation Systems Council Newsletter Vol. 5, No. 3, July 2003
CFP: IEEE Intelligent Vehicles Symposium 2004by Alberto Broggi
IEEE Intelligent Vehicles Symposium Parma, Italy, June 14-17, 2004
IV’04
The Intelligent Vehicles Symposium (IV’04) is an annual forum sponsored by theIEEE Intelligent Transportation Systems (ITS) Council. It gathers researchers from industry and universities to discuss research and applications for Intelligent Vehicles and Intelligent Infrastructures. Three days of the symposium will be allocated for technical presentations and one day will be dedicated to live vehicle demonstrations. The technical presentations are characterized by a single session format so that all attendees remain in a single room for multilateral communications in an informal atmosphere. Papers dealing with all aspects of vehicle-related intelligent systems and cooperation between vehicles and infrastructures are solicited for IV’04.
• Driver Assistance Systems • Automated Vehicles • Active and Passive Safety • Integrated Safety Systems • Vehicle Environment Perception • System Architecture • Smart Infrastructure • Impact on Traffic Flows • AHS • IVI
• Sensors • Image, Radar, Lidar Signal
Processing • Information Fusion • Vehicle Control • Decision and Expert Systems • Communications and Networks • Human Factors • Human Machine Interaction • Others
Special Session Organization is encouraged. Organizers should contact Dr. Niehsen at [email protected]
General Chair Alberto Broggi Università di Parma Program Chair Christoph Stiller Universität Karlsruhe Program Co-Chairs Ljubo Vlacic Griffith University Fei-Yue Wang Univ. of Arizona and CAS Tutorial Chair Massimo Bertozzi Università di Parma Demos Chair Gianfranco Burzio CRF Finance Chair Emily Sopensky The Iris Company Publication Chair Stefano Stramigioli Drebbel Institute on Mechatronics Advisory Chair Ichiro Masaki MIT Publicity Chairs Olga Landolfi TTS Italia Daniele Pulcini Univ. di Roma "La Sapienza" Local Arrangements and Registration Chair Alessandra Fascioli Università di Parma Program Committee B. van Arem J.-M. Blosseville N. Clarke E.D. Dickmanns K. Dietmayer U. Franke H.J. Gao J. Gayko T. Graf K. Gresser T. Jochem A. Kirchner K. Kluge G. Levizzari M. Maurer M.-M. Meinecke J. Misener K. Naab H.-H. Nagel W. Niehsen W. Niem Ü. Özgüner M. Parent L. Schäfers M. Tan C. Thorpe M. Tomizuka V. Torre H. Winner
Paper Submission Prospective authors are requested to send an extended summary through the conference website no later than Dec. 1, 2003. The summary must be a pdf file inIEEE two column format. A LaTeX style file and a Microsoft Word template are available at the website. The extended summary must be 4 pages including figureswith sufficient detail for review for technical merits and appropriateness. A separate page should include (1) the title of the paper, (2) the name of the authors, (3) the name, mailing address, telephone and fax number, and email address of the corresponding author, (4) the technical categories.
Important Dates Organized session proposal deadline Nov. 1, 2003 Extended summary submission Dec. 1, 2003 Notification of acceptance Feb. 1, 2004 Camera-ready manuscript due for proceedings Mar. 15, 2004
Please refer to the following websites for the most up-to-date information: IEEE IV’04 http://www.ieeeiv.org IEEE ITS Council http://www.ieee.org/itsc
Call for Papers
Program Topics Include the Following Technical Categories
THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC. Page 19
Vol. 5, No. 3, July 2003 IEEE Intelligent Transportation Systems Council Newsletter
Non-Council ITS News
Call for Contributions: IEEE Intelligent Systems Magazineby Alberto Broggi
IEEE Intelligent Systems Magazine
Call for Short Papers/Reports
IEEE Intelligent Systems Magazine has started a regular department on Intelligent TransportationSystems. This department (published in each issue) describes current trends and ideas for future sys-tems/realizations/projects in the field of ITS.
People willing to share their ideas and disseminate the results oftheir projects are invited to prepare a short article (from 2 to 5 mag-azine pages) describing current trends, projects, research directions,and their experience in any field of Intelligent Transportation Systems.
There’s no format for the paper: the magazine staff will reformatthe paper for you, will redraw your figures, and will reword your sen-tences, if needed. The length must be 2-4 pages in the final format,including figures, photos, graphics, and 4-5 references. It is possiblealso to include specific technical details in small sidebards. No dead-line is defined since this department is scheduled on each issue of themagazine, and after being accepted, it will be published in the nextavailable issue.
For further publication guidelines and for suggestions, contact theeditor at [email protected] with a possible outline of the proposedarticle or browse www.ce.unipr.it/broggi/is-department for a quicklook at past installations of this department.
Thanks to an agreement with the Magazine, published articles are reprinted in this Newsletter.
Put your commercial Ad on the IEEE ITSC Newsletter......and be seen by over 12,000 readers worldwide
Page 20 THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC.
IEEE Intelligent Transportation Systems Council Newsletter Vol. 5, No. 3, July 2003
A Glimpse on the Webby Alessandra Fascioli
This department is dedicated to catching a glimpse on the WWW trying to discover interesting ITS relatedWeb resources. Every suggestion or contribution is welcome and should be addressed to [email protected].
• European Platform on Mobility Management (EPOMM) is an international partnershipaiming to promote and further develop Mobility Management in Europe and fine tune the imple-mentation between the Member States of the EU and other countries in Europe. EPOMM providesa forum for all those interested in Mobility Management: representatavives from EU member gov-ernments, local and regional authorities, researchers, major employers, transport operators andother user groups. Link to EPOMM site:http://www.epommweb.org
• The Grand Challenge is a challenge of autonomous ground vehicles between Los Angeles and LasVegas in March of 2004, organized bt DARPA. A cash award of 1 million dollars will be granted tothe team that fields the first vehicle to complete the designated route within a specified time limit.The purpose of the challenge is to leverage American ingenuity to accelerate the development ofautonomous vehicle technologies that can be applied to military requirements. Link to the DARPAGrand Challenge site:http://www.darpa.mil/grandchallenge
• The Centre for the Study of Urban Planning, Transportation and Public Facilities(Certu) is a French technical services agency under the Ministry of Public Works, Transportationand Housing. The main objective of Certu is to build and increase the general body of sharedknowledge available on a broad variety of urban issues. The fields of activity include Urban plan-ning and policy-making, Mobility and transportation, Street improvements, public spaces, Publicownership and facilities management, Environment, Technology and information systems. Link tothe English version of Certu site:http://www.certu.fr/certu/jsp/CtuEnglandLevel0.jsp
• The Swedish National Road Administration (SNRA) is the Swedish national authorityassigned the overall sectoral responsibility for the entire road transport system. The SNRA isalso responsible for drawing up and applying road transport regulations. In addition, the SNRAis responsible for the planning, construction, operation and maintenance of the state roads. Thissectoral responsibility involves representing the State at a national level in issues relating to theenvironmental impact of the road transport system, road traffic safety, accessibility, level of service,efficiency and contributions to regional balance, as well as in issues relating to intelligent transportsystems, vehicles, public transport, modifications for the disabled, commercial traffic in addition toapplied research, development and demonstration activities within the road transport system. Linkto the English version of SNRA site:http://www.vv.se/for lang/english/index.htm
• The Association for Unmanned Vehicle Systems International (AUVSI) is a non-profitorganization devoted to advancing the unmanned systems community. AUVSI, with membersfrom government organizations, industry and academia, is committed to fostering, developing, andpromoting unmanned systems and related technologies. It provides opportunities for informationexchange, networking and business development, forums for simply learning about unmanned sys-tems or for staying abreast of the latest program and technology updates. Link to AUVSI site:http://www.auvsi.org
THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC. Page 21
IEEE Intelligent Transportation Systems Council Newsletter Vol. 5, No. 3, July 2003
CFP: IAV2004-5th IFAC Symposium on Intelligent Autonomous Vehiclesby M. Isabel Ribeiro
CALL FOR PAPERSCALL FOR PAPERSCALL FOR PAPERSCALL FOR PAPERS
Important DatesImportant DatesImportant DatesImportant DatesSubmission of draft (full-length) papers and invited
sessions with respective papers .....................….............................…......... 1December 20031December 20031December 20031December 2003Notification of acceptance/rejection of papers and invited sessions…............... 16 February 200416 February 200416 February 200416 February 2004Submission of final papers and summaries ....................................…................... 31 March 200431 March 200431 March 200431 March 2004Early registration until ...................................................................…..................... 16 April 200416 April 200416 April 200416 April 2004
You are cordially invited to attend and contribute to the 5555thththth IFAC Symposium on Intelligent IFAC Symposium on Intelligent IFAC Symposium on Intelligent IFAC Symposium on Intelligent Autonomous VehiclesAutonomous VehiclesAutonomous VehiclesAutonomous Vehicles, IAV2004IAV2004IAV2004IAV2004, that will take place in Lisbon, Portugal, from 5 to 7 July 2004.
The IAV2004IAV2004IAV2004IAV2004 will provide an excellent opportunity for the presentation and discussion of research and development work in the general area of intelligent autonomous vehicles. Researchers and practitioners from the fields of land, air and marine robotics will be brought together to discuss theoretical and practical problems, describe scientific and commercial applications and explore avenues for future research.
http://iav04.isr.ist.utl.pt
GENERAL CHAIRGENERAL CHAIRGENERAL CHAIRGENERAL CHAIRM. Isabel Ribeiro, Portugal
INTERNATIONAL PROGRAM COMMITTEEINTERNATIONAL PROGRAM COMMITTEEINTERNATIONAL PROGRAM COMMITTEEINTERNATIONAL PROGRAM COMMITTEEChair: M. Isabel Ribeiro, PortugalVice-Chair: Miguel A. Salichs, SpainVice-Chair: António Pascoal, PortugalVice-Chair from Industry: Masahiro Fujita, Japan
Special RepresentativesHajime Asama – IFAC TC on IAVJurek Sasiadek – IFAC TC on RoboticsRobert Sutton – IFAC TC on Marine SystemsAlberto Broggi – EURONJosé Santos-Victor – Symposium Edtior
Invited MembersRachid Alami Ronald ArkinManuel Armada Minoru AsadaWolfram Burgard Carlos BalaguerThomas Christaller Henrik ChristensenErnst D. Dickmanns Rudiger DillmannHugh Durrant-Whyte John O. GrayFrans Groen Steffen GutmannAarne Halme Masafumi HashimotoSamad Hayati Gerd HirzingerGiovanni Indiveri Petros IoannouRay A. Jarvis Yukinori KakazuIsaac Kaminer Ossama KhatibPeter Kopacek Krzystof KozlowskiKostas Kryiakopoulos Vijay KumarDavid M. Lane John LeonardPedro Lima Fernando Lobo-PereiraRobin Murphy Eduardo NebotKlas Nordberg Urbano NunesAnibal Ollero José Sá-da-CostaGiulio Sandini Roland SiegwartJuan Tardos Giovanni UliviManuela Veloso Gurvinder VirkAke Wernersson
SYMPOSIUM EDITORSYMPOSIUM EDITORSYMPOSIUM EDITORSYMPOSIUM EDITORJosé Santos-Victor, Portugal
NATIONAL ORGANIZING COMMITTEENATIONAL ORGANIZING COMMITTEENATIONAL ORGANIZING COMMITTEENATIONAL ORGANIZING COMMITTEECarlos Silvestre, ChairJosé Santos-Victor, EditorJoão Paulo CosteiraAlexandre BernardinoJorge Dias
ORGANIZED BYORGANIZED BYORGANIZED BYORGANIZED BYInstitute for Systems and Robotics (ISR)Instituto Superior Técnico (IST)for APCA –the Portuguese Association of Automatic Control
SPONSORED BYSPONSORED BYSPONSORED BYSPONSORED BYIFAC TC on Intelligent Autonomous Vehicles
COCOCOCO----SPONSORED BYSPONSORED BYSPONSORED BYSPONSORED BYIFAC TC on RoboticsIFAC TC on Marine SystemsIFAC TC on AerospaceEURON – European Robotics Research Network
CONTACTSCONTACTSCONTACTSCONTACTSIAV2004 SecretariatInstituto de Sistemas e RobóticaInstituto Superior TécnicoAv. Rovisco Pais 1Torre Norte – Piso 81049-001 Lisboa, PORTUGAL
Paper SubmissionPaper SubmissionPaper SubmissionPaper SubmissionContributed papers and invited sessions are solicited. Contributed papers and papers for invited sessions must comply with the IFAC conference format (http://www.elsevier.com/locate/ifac) and should not exceed 6 two-column pages. Prospective authors are invited to submit full papers in PDF or Postscript format through the conference Web site. For instructions on how to submit an invited session, see the conference Web site.At least one of the authors of an accepted paper must register for the symposium. Accepted papers will appear in the conference Preprints distributed during the meeting. Papers duly presented will be archived and offered for sale in the form of Proceedings volumes by Elsevier Science, Oxford, England.
Topics include, but are not limited to:Topics include, but are not limited to:Topics include, but are not limited to:Topics include, but are not limited to:• Architectures for intelligent autonomous systems.• Control, Guidance and Navigation of autonomous robots (indoors, outdoors, land, space,
marine): modeling and control, trajectory tracking and path following, navigation systems, planning, recognition, localization, map building, SLAM.
• Sensors and sensor integration in autonomous robots.• Intelligent transportation systems.• Service robotics, domestic robotics, rehabilitation and biomedical robotics, field robotics,
entertainment robotics, ocean exploration robotics.• Redundant robots, flexible robots, modular robots, micro-robots, legged robots, humanoids.• Multiple Vehicle Systems and Networks of Autonomous Vehicles: cooperative navigation and
control of homogeneous and heterogeneous teams, cooperative control under severe communication bandwidth constraints, cooperative perception, communications, architectures for teams of autonomous vehicles, practical applications.
• Human and robot interaction.• Applications of Autonomous Intelligent Vehicles: case studies and test evaluation; land (indoors
and outdoors), marine (surface and underwater), aerial and space vehicles.• Science driven robotic developments: applications in marine biology and geology, habitat
mapping, environmental monitoring, mapping and surveillance, search and rescue operations, planetary surface exploration, agriculture, manufacturing, service sector.
IFAC Publication and Copyright policy IFAC Publication and Copyright policy IFAC Publication and Copyright policy IFAC Publication and Copyright policy – see detailed information at the Symposium Web site
IFAC SYMPOSIUM ON INTELLIGENT AUTONOMOUS VEHICLESIFAC SYMPOSIUM ON INTELLIGENT AUTONOMOUS VEHICLESIFAC SYMPOSIUM ON INTELLIGENT AUTONOMOUS VEHICLESIFAC SYMPOSIUM ON INTELLIGENT AUTONOMOUS VEHICLES
INSTITUTO SUPERIOR TÉCNICO 5INSTITUTO SUPERIOR TÉCNICO 5INSTITUTO SUPERIOR TÉCNICO 5INSTITUTO SUPERIOR TÉCNICO 5----7 JULY 20047 JULY 20047 JULY 20047 JULY 2004LISBON, PORTUGALLISBON, PORTUGALLISBON, PORTUGALLISBON, PORTUGAL
THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC. Page 23
Vol. 5, No. 3, July 2003 IEEE Intelligent Transportation Systems Council Newsletter
CFP: Workshop on Intelligent Transportationby Hermann Rohling
Call for Papers WIT 2004
Workshop on Intelligent Transportation Hamburg, Germany, March 23-24, 2004
organised by
Technical University of Hamburg-Harburg Prof. Dr. Hermann Rohling
The 1st International Workshop on Intelligent Transportation (WIT 2004) will be held in Hamburg, Germany, at the Hotel Hafen Hamburg from Tuesday, March 23rd through Wednesday, March 24th 2004. Transportation in general is still due to the rapid development of technologies an expanding technical and economical segment with practical applications in cars, trains, ships and air planes. The worldwide family of experts is quite small and it is always a pleasure to invite all these engineers for fruitful discussions about technical and other contents. It is a forum for all international experts to come together, present latest research results, discuss about technical experiences and new ideas. High level presentations by leading experts will allow each participant to get an in-depth view on the status of systems and components in all fields and aspects of current applications as well as on future research and developments.
The workshop will focus on new developments and system considerations in the field of transportation systems. The main topics are:
Vehicle Communication • Personal Communication • Inter Vehicle Communication (IVC) • Roadside to Vehicle Communication (RVC) • DSRC • Concepts, Protocols and Architectures Smart Sensors • Automotive Radar • Image Processing • Information Fusion and Classification
Driver Assistance • Active and Passive Safety • Adaptive Cruise Control (ACC) • Travel and Traffic Information • Vehicle Navigation • Human Machine Interaction Maritime and Air Traffic Services • Automatic Identification System (AIS) • Automatic Dependant Surveillance (ADS) • Maritime and Air Traffic Control
Paper Submission Authors are invited to submit a two-page extended abstract, including the author´s full contact information (name, address and telephone) to the Workshop Secretariat no later than Nov. 15, 2003.
Important Dates
Deadline for extended abstracts (2 pages): Notification of acceptance: Deadline for final paper: Registration deadline:
November 15, 2003 December 19, 2003
February 01, 2004 February 28, 2004
For further information about this Workshop, please visit our web page at:
http://wit.tu-harburg.de
Conference Chair Prof. Dr. Hermann Rohling Department of Telecommunications Technical University of Hamburg-Harburg Eissendorfer Strasse 40 21073 Hamburg, Germany Phone: +49 (0)40 – 42878 – 3028 E-Mail: [email protected]
WIT-Workshop Secretariat André Ebner, Lars Wischhof Department of Telecommunications Technical University of Hamburg-Harburg Phone: +49 (0)40 – 42878 – 3128 Fax: +49 (0)40 – 42878 – 2281 E-Mail: [email protected] http://wit.tu-harburg.de
Page 24 THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC.
IEEE Intelligent Transportation Systems Council Newsletter Vol. 5, No. 3, July 2003
Call for Participation: 2nd Intertraffic Innovation Awardby Jacqueline Tange
Participate in the 2nd Intertraffic Innovation Award Intertraffic Amsterdam is the world’s leading event for the traffic and transport infrastructure industry. All exhibitors at Intertraffic Amsterdam 2004 are invited to participate in the second Intertraffic Innovation Award. The Innovation Award provides you with the opportunity to generate free additional exposure around your participation in the exhibition and distinguish your product from the competition. Entry forms for the Intertraffic Innovation Award will be sent to you upon receipt of your stand application form for 2004. Last year 10 of the 60 entries were nominated. The award, for the most innovative product in the traffic and transport infrastructure sector for 2002, was presented to Holophane from France. This time your company could be the winner of the Intertraffic Innovation Award! We are happy to present the five members of the jury. They bring with them ample industry expertise and experience in the traffic and transport sector. We welcome our new jury members:
Mr. F.C.M. Wegman (Managing Director of the Institute for road safety research SWOV, The Netherlands)
Mr. D. Crawford (Editor Route One Publishing, United Kingdom).
Returning jury members are: Prof. I.A. Hansen: Jury Chairman (Faculty
of Civil Engineering & Geosciences, Delft University of Technology, The Netherlands)
Prof. A. Broggi (Intelligent Transportation Systems Council, University of Parma, Italy) Mr. H. Luikens (Managing Director AVV/Transport Research Centre - Directorate General of Public Works & Water Management, The Netherlands).
We expect a large amount of entries and look forward to receiving yours! Please feel free to contact Jacqueline Tange ([email protected]) with any questions you may have on the Intertraffic Innovation Award 2004.
THE INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, INC. Page 25
