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Register a new userRoad Grade Estimation Using Crowd-Sourced Smartphone Data
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Added by
Abhishek Gupta
Publication date
2020
fields
Electronic Engineering
and research's language is
English
Authors
Abhishek Gupta
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Estimates of road grade/slope can add another dimension of information to existing 2D digital road maps. Integration of road grade information will widen the scope of digital maps applications, which is primarily used for navigation, by enabling driving safety and efficiency applications such as Advanced Driver Assistance Systems (ADAS), eco-driving, etc. The huge scale and dynamic nature of road networks make sensing road grade a challenging task. Traditional methods oftentimes suffer from limited scalability and update frequency, as well as poor sensing accuracy. To overcome these problems, we propose a cost-effective and scalable road grade estimation framework using sensor data from smartphones. Based on our understanding of the error characteristics of smartphone sensors, we intelligently combine data from accelerometer, gyroscope and vehicle speed data from OBD-II/smartphones GPS to estimate road grade. To improve accuracy and robustness of the system, the estimations of road grade from multiple sources/vehicles are crowd-sourced to compensate for the effects of varying quality of sensor data from different sources. Extensive experimental evaluation on a test route of ~9km demonstrates the superior performance of our proposed method, achieving $5times$ improvement on road grade estimation accuracy over baselines, with 90% of errors below 0.3$^circ$.
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In Internet of Things (IoT) driven smart-world systems, real-time crowd-sourced databases from multiple distributed servers can be aggregated to extract dynamic statistics from a larger population, thus providing more reliable knowledge for our society. Particularly, multiple distributed servers in a decentralized network can realize real-time collaborative statistical estimation by disseminating statistics from their separate databases. Despite no raw data sharing, the real-time statistics could still expose the data privacy of crowd-sourcing participants. For mitigating the privacy concern, while traditional differential privacy (DP) mechanism can be simply implemented to perturb the statistics in each timestamp and independently for each dimension, this may suffer a great utility loss from the real-time and multi-dimensional crowd-sourced data. Also, the real-time broadcasting would bring significant overheads in the whole network. To tackle the issues, we propose a novel privacy-preserving and communication-efficient decentralized statistical estimation algorithm (DPCrowd), which only requires intermittently sharing the DP protected parameters with one-hop neighbors by exploiting the temporal correlations in real-time crowd-sourced data. Then, with further consideration of spatial correlations, we develop an enhanced algorithm, DPCrowd+, to deal with multi-dimensional infinite crowd-data streams. Extensive experiments on several datasets demonstrate that our proposed schemes DPCrowd and DPCrowd+ can significantly outperform existing schemes in providing accurate and consensus estimation with rigorous privacy protection and great communication efficiency.
The automated detection of corrosion from images (i.e., photographs) or video (i.e., drone footage) presents significant advantages in terms of corrosion monitoring. Such advantages include access to remote locations, mitigation of risk to inspectors, cost savings and monitoring speed. The automated detection of corrosion requires deep learning to approach human level artificial intelligence (A.I.). The training of a deep learning model requires intensive image labelling, and in order to generate a large database of labelled images, crowd sourced labelling via a dedicated website was sought. The website (corrosiondetector.com) permits any user to label images, with such labelling then contributing to the training of a cloud based A.I. model - with such a cloud-based model then capable of assessing any fresh (or uploaded) image for the presence of corrosion. In other words, the website includes both the crowd sourced training process, but also the end use of the evolving model. Herein, the results and findings from the website (corrosiondetector.com) over the period of approximately one month, are reported.
We study the problem of learning a range of vision-based manipulation tasks from a large offline dataset of robot interaction. In order to accomplish this, humans need easy and effective ways of specifying tasks to the robot. Goal images are one popular form of task specification, as they are already grounded in the robots observation space. However, goal images also have a number of drawbacks: they are inconvenient for humans to provide, they can over-specify the desired behavior leading to a sparse reward signal, or under-specify task information in the case of non-goal reaching tasks. Natural language provides a convenient and flexible alternative for task specification, but comes with the challenge of grounding language in the robots observation space. To scalably learn this grounding we propose to leverage offline robot datasets (including highly sub-optimal, autonomously collected data) with crowd-sourced natural language labels. With this data, we learn a simple classifier which predicts if a change in state completes a language instruction. This provides a language-conditioned reward function that can then be used for offline multi-task RL. In our experiments, we find that on language-conditioned manipulation tasks our approach outperforms both goal-image specifications and language conditioned imitation techniques by more than 25%, and is able to perform visuomotor tasks from natural language, such as open the right drawer and move the stapler, on a Franka Emika Panda robot.
We propose a method for estimating channel parameters from RSSI measurements and the lost packet count, which can work in the presence of losses due to both interference and signal attenuation below the noise floor. This is especially important in the wireless networks, such as vehicular, where propagation model changes with the density of nodes. The method is based on Stochastic Expectation Maximization, where the received data is modeled as a mixture of distributions (no/low interference and strong interference), incomplete (censored) due to packet losses. The PDFs in the mixture are Gamma, according to the commonly accepted model for wireless signal and interference power. This approach leverages the loss count as additional information, hence outperforming maximum likelihood estimation, which does not use this information (ML-), for a small number of received RSSI samples. Hence, it allows inexpensive on-line channel estimation from ad-hoc collected data. The method also outperforms ML- on uncensored data mixtures, as ML- assumes that samples are from a single-mode PDF.
Mosquitoes are the only known vector of malaria, which leads to hundreds of thousands of deaths each year. Understanding the number and location of potential mosquito vectors is of paramount importance to aid the reduction of malaria transmission cases. In recent years, deep learning has become widely used for bioacoustic classification tasks. In order to enable further research applications in this field, we release a new dataset of mosquito audio recordings. With over a thousand contributors, we obtained 195,434 labels of two second duration, of which approximately 10 percent signify mosquito events. We present an example use of the dataset, in which we train a convolutional neural network on log-Mel features, showcasing the information content of the labels. We hope this will become a vital resource for those researching all aspects of malaria, and add to the existing audio datasets for bioacoustic detection and signal processing.
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