Timestamping and latency analysis for multi-sensor perception systems

Brahmi, Mohamed; Schueler, Kai; Bouzouraa, Sayed; Maurer, Markus; Siedersberger, Karl-Heinz; Hofmann, Ulrich

doi:10.1109/icsens.2013.6688423

Cited by 5 publications

(3 citation statements)

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“…Therefore the relation of the validity time of the sensor data to UTC must be known. The determination of the transmission latencies of the sensors is required to reach sufficient precision, see [16], [17], [18].…”

Section: B Requirements On Perception Systemsmentioning

confidence: 99%

Inter-vehicle information-fusion with shared perception information

Seeliger

Dietmayer

2014

17th International IEEE Conference on Intelligent Transportation Systems (ITSC)

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Developing concepts for cooperative awareness was subject of several international research programs in the past years 2 . The main concept for cooperative awareness is the communication of localization information enriched by situation specific content by meanwhile standardized messages like the Cooperative Awareness Message (CAM) in Europe or the Basic Safety Message (BSM) in the US. The concept of cooperative perception extends the state of the art concept of cooperative awareness by integrating perception information from infrastructure perception systems (IPS) 3 and vehicle perception systems (VPS) in the ego-vehicles environment model. In this paper three variants of the Covariance Intersection (CI) method used for state fusion in an Inter-Vehicle Information-Fusion (IV-IF) System are compared. The goal is to figure out which CI method out of the selection is the best choice for an active road safety application described in a recent publication, which was developed within the research project Ko-PER (cooperative perception).

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Section: B Requirements On Perception Systemsmentioning

confidence: 99%

Inter-vehicle information-fusion with shared perception information

Seeliger

Dietmayer

2014

17th International IEEE Conference on Intelligent Transportation Systems (ITSC)

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“…The optimal circumstance is the low lag number electrical data series, and the NARX neural network is also trained with the same lag data type. However, in the practical situation, the distortion occurs following an exponential behavior as the scale of the network grows [ 27 ]. The main lag number remains 2–3 lags.…”

Section: Experiments and Analysismentioning

confidence: 99%

“…Klaus [ 6 ] applied OOSM for multi-sensor fusion in vehicles and proposed joint integrated probabilistic data association (JIPDA) fusion. Schueller [ 27 ] provided a temporal solution to calibrate the data sequence in an advanced driver assistance system. Liu [ 28 ] combined the OOSM algorithm with compressive sensing for harmonic measurement and identification.…”

Section: Introductionmentioning

confidence: 99%

Data-Aware Retrodiction for Asynchronous Harmonic Measurement in a Cyber-Physical Energy System

Liu

Wang

Liu

et al. 2016

Sensors

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Cyber-physical energy systems provide a networked solution for safety, reliability and efficiency problems in smart grids. On the demand side, the secure and trustworthy energy supply requires real-time supervising and online power quality assessing. Harmonics measurement is necessary in power quality evaluation. However, under the large-scale distributed metering architecture, harmonic measurement faces the out-of-sequence measurement (OOSM) problem, which is the result of latencies in sensing or the communication process and brings deviations in data fusion. This paper depicts a distributed measurement network for large-scale asynchronous harmonic analysis and exploits a nonlinear autoregressive model with exogenous inputs (NARX) network to reorder the out-of-sequence measuring data. The NARX network gets the characteristics of the electrical harmonics from practical data rather than the kinematic equations. Thus, the data-aware network approximates the behavior of the practical electrical parameter with real-time data and improves the retrodiction accuracy. Theoretical analysis demonstrates that the data-aware method maintains a reasonable consumption of computing resources. Experiments on a practical testbed of a cyber-physical system are implemented, and harmonic measurement and analysis accuracy are adopted to evaluate the measuring mechanism under a distributed metering network. Results demonstrate an improvement of the harmonics analysis precision and validate the asynchronous measuring method in cyber-physical energy systems.

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