We present a real-time algorithm for simultaneous localization and local mapping (local SLAM) with detection and tracking of moving objects (DATMO) in dynamic outdoor environments from a moving vehicle equipped with a laser scanner, short range radars and odometry. To correct the vehicle odometry we introduce a new fast implementation of incremental scan matching method that can work reliably i...

Traffic management systems have historically been limited to addressing the control of street signal lights. Algorithmic solutions to this problem have proved to be very restrictive, while expert system solutions have only shown valid results with small signal networks. None of these approaches has addressed the need for management of the overall transportation system of surface streets, inters...

Urban land-use planning in the U.S. has traditionally been bas ed on the Euclidean zoning model, the separation of land uses. The long-term impacts of this development pattern, often termed “urban sprawl”, have been a continued source of controversy (1). This research determines if expert opinion regarding sprawl’s negative effects, specifically, that regarding the public/ private capital and o...

Over the last few decades, some newly developed areas in the city of Isfahan have had serious problems in providing such urban design qualities as legibility, and this has led to various problems for the citizens like difficulty in way-finding, orientation or addressing. In order to solve this problem and enrich the legibility of newly developed areas, planners and designers should utilize appr...

How do the concentrations of indoor air pollutants known to increase risk of respiratory disease, cancer, heart disease, and stroke change after a smoke-free workplace law? Real-time measurements were made of respirable particle (RSP) air pollution and particulate polycyclic aromatic hydrocarbons (PPAH), in a casino, six bars, and a pool hall before and after a smoking ban. Secondhand smoke con...

This paper pertains to the reduction of measurement errors due to drift in rate gyros used for tracking the position of moving vehicles. In these applications, gyros and odometry are often used to augment GPS when GPS reception is unavailable. Drift in gyros causes the unbounded growth of errors in the estimation of heading, rendering lowcost gyros almost entirely useless in applications that r...

In this paper we present a new method for over-height vehicle detection in low headroom streets and highways using digital video possessing. The accuracy and the lower price comparing to present detectors like laser radars and the capability of providing extra information like speed and height measurement make this method more reliable and efficient. In this algorithm the features are selected ...

Diesel fuel and the products of its combustion represent one of the toxins most commonly encountered by people living in both urban and rural areas of the world. As nations become more heavily populated, there will be increasing reliance on diesel fuel to power mass transportation and commercial vehicles, as well as heavy machinery involved in construction, farming, and mining. The majority of ...

1042 Private property, including intellectual property, is essential to our way of life. It provides an incentive for investment and innovation; it stimulates the flourishing of our culture; it protects the moral entitlements of people to the fruits of their labors. But reducing too much to private property can be bad medicine. Private land, for instance, is far more useful if separated from ot...

This paper addresses the problem of war scene classification. Scene classification underlies many problems in visual perception such as object recognition and environment navigation. Scene classification, the classification of images into semantic categories (e.g. opencountry, mountains, highways and streets) is a challenging and important task nowadays. In this paper we are trying to classify ...