Autonomous robots that assist humans in day to day living tasks are becoming increasingly popular. Autonomous mobile robots operate by sensing and perceiving their surrounding environment to make accurate driving decisions. A combination of several different sensors such as LiDAR, radar, ultrasound sensors and cameras are utilized to sense the surrounding environment of autonomous vehicles. These heterogeneous sensors simultaneously capture various physical attributes of the environment. Such multimodality and redundancy of sensing need to be positively utilized for reliable and consistent perception of the environment through sensor data fusion. However, these multimodal sensor data streams are different from each other in many ways, such as temporal and spatial resolution, data format, and geometric alignment. For the subsequent perception algorithms to utilize the diversity offered by multimodal sensing, the data streams need to be spatially, geometrically and temporally aligned with each other. In this paper, we address the problem of fusing the outputs of a Light Detection and Ranging (LiDAR) scanner and a wide-angle monocular image sensor for free space detection. The outputs of LiDAR scanner and the image sensor are of different spatial resolutions and need to be aligned with each other. A geometrical model is used to spatially align the two sensor outputs, followed by a Gaussian Process (GP) regression-based resolution matching algorithm to interpolate the missing data with quantifiable uncertainty. The results indicate that the proposed sensor data fusion framework significantly aids the subsequent perception steps, as illustrated by the performance improvement of a uncertainty aware free space detection algorithm.

Creating an accurate awareness of the environment using laser scanners is a major challenge in robotics and auto industries. LiDAR (light detection and ranging) is a powerful laser scanner that provides a detailed map of the environment. However, efficient and accurate mapping of the environment is yet to be obtained, as most modern environments contain glass, which is invisible to LiDAR. In this paper, a method to effectively detect and localise glass using LiDAR sensors is proposed. This new approach is based on the variation of range measurements between neighbouring point clouds, using a two-step filter. The first filter examines the change in the standard deviation of neighbouring clouds. The second filter uses a change in distance and intensity between neighbouring pules to refine the results from the first filter and estimate the glass profile width before updating the cartesian coordinate and range measurement by the instrument. Test results demonstrate the detection and localisation of glass and the elimination of errors caused by glass in occupancy grid maps. This novel method detects frameless glass from a long range and does not depend on intensity peak with an accuracy of 96.2%.

Background: Global positioning system (GPS) based player movement tracking data are widely used by professional football (soccer) clubs and academies to provide insight into activity demands during training and competitive matches. However, the use of movement tracking data to inform the design of training programmes is still an open research question. Objectives: The objective of this study is to analyse player tracking data to understand activity level differences between training and match sessions, with respect to different playing positions. Methods: This study analyses the per-session summary of historical movement data collected through GPS tracking to profile high-speed running activity as well as distance covered during training sessions as a whole and competitive matches. We utilise 20,913 data points collected from 53 football players aged between 18 and 23 at an elite football academy across four full seasons (2014–2018). Through ANOVA analysis and probability distribution analysis, we compare the activity demands, measured by the number of high-speed runs, the amount of high-speed distance, and distance covered by players in key playing positions, such as Central Midfielders, Full Backs, and Centre Forwards. Results and Implications: While there are significant positional differences in physical activity demands during competitive matches, the physical activity levels during training sessions do not show positional variations. In matches, the Centre Forwards face the highest demand for High Speed Runs (HSRs), compared to Central Midfielders and Full Backs. However, on average the Central Midfielders tend to cover more distance than Centre Forwards and Full Backs. An increase in high-speed work demand in matches and training over the past four seasons, also shown by a gradual change in the extreme values of high-speed running activity, was also found. This large-scale, longitudinal study makes an important contribution to the literature, providing novel insights from an elite performance environment about the relationship between player activity levels during training and match play, and how these vary by playing position.

Despite the widespread use of encryption techniques to provide confidentiality over Internet communications, mobile device users are still susceptible to privacy and security risks. In this paper, a novel Deep Neural Network (DNN) based on a user activity detection framework is proposed to identify fine-grained user activities performed on mobile applications (known as in-app activities) from a sniffed encrypted Internet traffic stream. One of the challenges is that there are countless applications, and it is practically impossible to collect and train a DNN model using all possible data from them. Therefore, in this work, we exploit the probability distribution of a DNN output layer to filter the data from applications that are not considered during the model training (i.e., unknown data). The proposed framework uses a time window-based approach to divide the traffic flow of activity into segments so that in-app activities can be identified just by observing only a fraction of the activity-related traffic. Our tests have shown that the DNN-based framework has demonstrated an accuracy of 90% or above in identifying previously trained in-app activities and an average accuracy of 79% in identifying previously untrained in-app activity traffic as unknown data when this framework is employed.

The increase in Internet bandwidth and the developments in 3D video technology have paved the way for the delivery of 3D Multi-View Video (MVV) over the Internet. However, large amounts of data and dynamic network conditions result in frequent network congestion, which may prevent video packets from being delivered on time. As a consequence, the 3D video experience may well be degraded unless content-aware precautionary mechanisms and adaptation methods are deployed. In this work, a novel adaptive MVV streaming method is introduced which addresses the future generation 3D immersive MVV experiences with multi-view displays. When the user experiences network congestion, making it necessary to perform adaptation, the rate-distortion optimum set of views that are pre-determined by the server, are truncated from the delivered MVV streams. In order to maintain high Quality of Experience (QoE) service during the frequent network congestion, the proposed method involves the calculation of low-overhead additional metadata that is delivered to the client. The proposed adaptive 3D MVV streaming solution is tested using the MPEG Dynamic Adaptive Streaming over HTTP (MPEG-DASH) standard. Both extensive objective and subjective evaluations are presented, showing that the proposed method provides significant quality enhancement under the adverse network conditions.

This article proposes a converged broadcast and broadband platform in order to deliver 3D media to both mobile and fixed users with guaranteed minimum quality of experience (QoE). The work presented offers an ideal business model for operators having both digital video broadcast and Internet Protocol (IP)-based media services. To that end, the DVB and peer-to-peer Internet technologies will be combined to provide sufficient resources for supporting high-bandwidth high-quality 3D multiview video. The motivations behind combining these technologies are outlined with an emphasis on their complementary characteristics. In addition, the overall design of the proposed architecture is presented focusing on the protocols that are exploited to achieve the interworking of the underlying technologies. Moreover, innovative key techniques for supporting both fixed and mobile users in an efficient manner are introduced.