Preprint Article Version 1 This version is not peer-reviewed

Self-Tuning Method for Increasing Reliability in Obstacle Detection based on Internet-of-Things LiDAR Sensor Models

Version 1 : Received: 28 February 2018 / Approved: 28 February 2018 / Online: 28 February 2018 (11:26:12 CET)

A peer-reviewed article of this Preprint also exists.

Castaño, F.; Beruvides, G.; Villalonga, A.; Haber, R.E. Self-Tuning Method for Increased Obstacle Detection Reliability Based on Internet of Things LiDAR Sensor Models. Sensors 2018, 18, 1508. Castaño, F.; Beruvides, G.; Villalonga, A.; Haber, R.E. Self-Tuning Method for Increased Obstacle Detection Reliability Based on Internet of Things LiDAR Sensor Models. Sensors 2018, 18, 1508.

Journal reference: Sensors 2018, 18, 1508
DOI: 10.3390/s18051508

Abstract

Nowadays, the research and development of on-chip LiDAR sensors for vehicle collision avoidance is growing very fast. Therefore, the assessment of the reliability in obstacle detection using the information provided by LiDAR sensors has become a key issue to be explored by the scientific community. This paper presents the design and implementation of a self-tuning method in order to maximize the reliability of an Internet-of-Things sensors network and to minimize the number of sensors to localize with the required accuracy obstacles by a detection threshold. In order to achieve this goal, models that predict accuracy (i.e., prediction error) for object localization using data collected by LIDAR sensors are designed and implemented in Webots Automobile 3D simulation tool. The approach is based on combining different techniques. Firstly, point-cloud clustering technique and an error prediction model library composed by a multilayer perceptron neural network with backpropagation, k-nearest neighbors and linear regression are explored. Secondly the above-mentioned techniques for modeling are also combined with a supervised and reinforcement machine learning technique, Q-learning in order to minimize the detection threshold. In addition, a IoT driving assistance simulated scenario with a LiDAR sensor network is designed in order to validate the prediction model and the optimal configuration of the sensor network to guarantee reliability in obstacle localization. The results demonstrate that the self-tuning method is appropriate to increase the reliability of the sensor network whereas minimizing the detection threshold

Subject Areas

LiDAR sensors reliability; Internet of Things, self-turning parametrization; k-nearest neighbors, driven-assistance simulator

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