NDLI: Deciding what to inspect first: Incremental situation assessment based on information gain

Content Provider	IEEE Xplore Digital Library
Author	Platho, M. Eggert, J.
Copyright Year	2012
Description	Author affiliation: Department of Neuroinformatics, Technical University of Ilmenau, D-98684, Germany (Platho, M.) \|\| Honda Research Institute Europe GmbH, D-63073 Offenbach am Main, Germany (Eggert, J.)
Abstract	In order to offer even more sophisticated functionality, future driver assistance systems need the ability to robustly recognize and understand driving situations. Especially in inner-city scenarios the high complexity and variability of situations encountered make their assessment a challenging task. We propose to tackle these challenges by decomposing situations into smaller, more manageable parts. We define such a part as a set consisting of a road user and all entities (e.g. cars, traffic lights) currently affecting its behavior. Though the decomposition alleviates the assessment already, for higher numbers of present entities the recognition of interrelated entities is still computationally expensive if performed in a brute-force fashion. Therefore we employ sensitivity analysis on Bayesian Networks for sensibly controlling the recognition process on the basis of information gain. This leads to an active measurement process in which a situation is perceived incrementally, concentrating first on the most meaningful sensor measurements. The proposed method is evaluated on a simulated inner-city scenario where it reliably recognizes the affecting entities of each road user. We show that a recognition process based on information gain can save more than 50% of measurements without significantly impairing the recognition rate.
Starting Page	888
Ending Page	893
File Size	683964
Page Count	6
File Format	PDF
ISBN	9781467330640
ISSN	21530009
e-ISBN	9781467330633
e-ISBN	9781467330626
DOI	10.1109/ITSC.2012.6338670
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-09-16
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Bayesian methods Mutual information Vehicles Roads Gain measurement Current measurement Acceleration
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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