Browsing by Author "Bian, Tongfei"
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Item Open Access End-to-end one-shot path-planning algorithm for an autonomous vehicle based on a convolutional neural network considering traversability cost(MDPI, 2022-12-10) Bian, Tongfei; Xing, Yang; Zolotas, ArgyriosPath planning plays an important role in navigation and motion planning for robotics and automated driving applications. Most existing methods use iterative frameworks to calculate and plan the optimal path from the starting point to the endpoint. Iterative planning algorithms can be slow on large maps or long paths. This work introduces an end-to-end path-planning algorithm based on a fully convolutional neural network (FCNN) for grid maps with the concept of the traversability cost, and this trains a general path-planning model for 10 × 10 to 80 × 80 square and rectangular maps. The algorithm outputs the lowest-cost path while considering the cost and the shortest path without considering the cost. The FCNN model analyzes the grid map information and outputs two probability maps, which show the probability of each point in the lowest-cost path and the shortest path. Based on the probability maps, the actual optimal path is reconstructed by using the highest probability method. The proposed method has superior speed advantages over traditional algorithms. On test maps of different sizes and shapes, for the lowest-cost path and the shortest path, the average optimal rates were 72.7% and 78.2%, the average success rates were 95.1% and 92.5%, and the average length rates were 1.04 and 1.03, respectively.Item Open Access Reducing viral transmission through AI-based crowd monitoring and social distancing analysis(IEEE, 2022-10-13) Fraser, Benjamin; Copp, Brendan; Singh, Gurpreet; Keyvan, Orhan; Bian, Tongfei; Sonntag, Valentin; Xing, Yang; Guo, Weisi; Tsourdos, AntoniosThis paper explores multi-person pose estimation for reducing the risk of airborne pathogens. The recent COVID-19 pandemic highlights these risks in a globally connected world. We developed several techniques which analyse CCTV inputs for crowd analysis. The framework utilised automated homography from pose feature positions to determine interpersonal distance. It also incorporates mask detection by using pose features for an image classification pipeline. A further model predicts the behaviour of each person by using their estimated pose features. We combine the models to assess transmission risk based on recent scientific literature. A custom dashboard displays a risk density heat-map in real time. This system could improve public space management and reduce transmission in future pandemics. This context agnostic system and has many applications for other crowd monitoring problems.