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41	Evaluation of Target Tracking Using Multiple Sensors and Non-Causal Algorithms Vestin, Albin, Strandberg, Gustav January 2019 (has links) Today, the main research field for the automotive industry is to find solutions for active safety. In order to perceive the surrounding environment, tracking nearby traffic objects plays an important role. Validation of the tracking performance is often done in staged traffic scenarios, where additional sensors, mounted on the vehicles, are used to obtain their true positions and velocities. The difficulty of evaluating the tracking performance complicates its development. An alternative approach studied in this thesis, is to record sequences and use non-causal algorithms, such as smoothing, instead of filtering to estimate the true target states. With this method, validation data for online, causal, target tracking algorithms can be obtained for all traffic scenarios without the need of extra sensors. We investigate how non-causal algorithms affects the target tracking performance using multiple sensors and dynamic models of different complexity. This is done to evaluate real-time methods against estimates obtained from non-causal filtering. Two different measurement units, a monocular camera and a LIDAR sensor, and two dynamic models are evaluated and compared using both causal and non-causal methods. The system is tested in two single object scenarios where ground truth is available and in three multi object scenarios without ground truth. Results from the two single object scenarios shows that tracking using only a monocular camera performs poorly since it is unable to measure the distance to objects. Here, a complementary LIDAR sensor improves the tracking performance significantly. The dynamic models are shown to have a small impact on the tracking performance, while the non-causal application gives a distinct improvement when tracking objects at large distances. Since the sequence can be reversed, the non-causal estimates are propagated from more certain states when the target is closer to the ego vehicle. For multiple object tracking, we find that correct associations between measurements and tracks are crucial for improving the tracking performance with non-causal algorithms. evaluation target tracking multiple sensors non-causal smoother smoothing tracking vehicle tracking camera lidar estimate estimation prediction vehicle dynamics sensor fusion real-time tracking extended kalman filter filter validation validation position estimation velocity estimation dynamic model model complexity multi object tracking multiple object tracking single object tracking data association tracking fundamentals iterated kalman filter track management gnn global nearest neighbour mahalanobis mahalanobis distance performance evaluation differential gps dgps roi ego several sensors sensors rmse root mean square error invertible motion anti-causal motion anti-causal tracking constant velocity gnn imu tfs two filter smoother ekf rts radar inertial measurement unit nonlinear nonlinear systems mono camera monocular camera noise model tracking performance fixed interval smoothing m/n logic centralized fusion non-causal object tracker car tracking car dynamics automotive active safety object tracking automotive industry thesis master reverse dynamics reverse tracking reverse sequence sequence tracking data propagation ground truth estimating ground truth additional sensors mounted sensors true estimates environment comparison algorithm independent targets overlapping measurements occluded track switch improve lower uncertainty more certain state process noise covariance sampling image sprt adas cnn cv pdf track target ego tracker tentative track observatiom online tracking offline tracking online offline recorded sequences robust self driving self-driving car traffic trajectory true state scenario scenarios future accurate output advanced driver assistance systems non-linear complex noise pedestrian truck bus maneuvering vehicles processed measurement frame state correction probability density function tuning likelihood transition measurement motion model recursion gaussian approximation distribution linear jacobian multiplicative noise ratio ad hoc ad hoc state space approach backward auction euclidean distance statistical threshold gating association margin normalize covariance matrix fusion confirmed rejected tentative history absolute error modular ego motion parameters variables logg hardware specification fused causal factorization independent uncorrelated transform moving rotation translation oncoming overtaking Control Engineering Reglerteknik
42	Les conditions de la responsabilité en droit privé : éléments pour une théorie générale de la responsabilité juridique / The conditions of responsibility in private law : elements for a general theory of legal responsibility Lagoutte, Julien 16 November 2012 (has links) Alors que l’on enseigne classiquement la distinction radicale du droit pénal et de la responsabilité civile, une étude approfondie du droit positif révèle une tendance générale et profonde à la confusion des deux disciplines. Face à ce paradoxe, le juriste s’interroge : comment articuler le droit civil et le droit pénal de la responsabilité ? Pour y répondre, cette thèse suggère d’abandonner l’approche traditionnelle de la matière, consistant à la tenir pour une simple catégorie de classement des différentes branches, civile et pénale, du droit de la responsabilité. La responsabilité juridique est présentée comme une institution autonome et générale organisant la réaction du système à la perturbation anormale de l’équilibre social. Quant au droit de la responsabilité civile et au droit criminel, ils ne sont plus conçus que comme les applications techniques de cette institution en droit positif.Sur le fondement de cette approche renouvelée et par le prisme de l’étude des conditions de la responsabilité en droit privé, la thèse propose un ordonnancement technique et rationnel du droit pénal et de la responsabilité civile susceptible de fournir les principes directeurs d’une véritable théorie générale de la responsabilité juridique. En tant qu’institution générale, celle-ci engendre à la fois un concept de responsabilité, composé des exigences de dégradation d’un intérêt juridiquement protégé, d’anormalité et de causalité juridique et qui fonde la convergence du droit pénal et du droit civil, et un système de responsabilité, qui en commande les divergences et pousse le premier vers la protection de l’intérêt général et le second vers celle des victimes. / While the radical distinction between criminal law and civil liability is classically taught, a thorough survey of positive law reveals a general and profound trend towards a confusion of these two disciplines. Faced with this paradox, the jurist wonders : how to articulate the civil and criminal laws of responsibility ? To answer this question, the thesis suggests abandoning the traditional approach of the subject, which consists in treating it as a mere category of classification of the different branches, civil and criminal, of responsibility/liability. Legal responsibility is presented as an autonomous and general institution organizing the response from the system to abnormal disturbance of social equilibrium. Civil liability law and criminal law are, as far as they are concerned, henceforth conceived as the mere technical applications of this institution in positive law.On the basis of this new approach and through the prism of the study of liability conditions in private law, the thesis proposes a technical and rational organization of criminal law and civil liability that may provide the guiding principles of a real general theory of legal responsibility. As a general institution, it gives not only a concept of responsibility, requiring degradation of a legally protected interest, abnormality and legal causation, and establishing the convergence of criminal law and civil law, but also a system of responsibility, determining the divergences of them and steering the first towards the protection of general interest and the second towards the protection of victims. Anormalité Antijuridicité Bien juridique Causalité juridique Causalité Cause étrangère Cessation de l’illicite Complicité Contrainte Culpabilité Dangerosité Discernement Dol général Dol spécial Dommage Droit des obligations Droit pénal Faits justificatifs Faute simple Faute Fautes qualifiées Force majeure Illicéité Immunités de fonction Imprudence consciente Imprudence inconsciente Imputabilité Infraction impossible Infraction Intention Mobile Personnalité juridique Personnalité morale Préjudice écologique Préjudice extrapatrimonial Préjudice patrimonial Préjudice Présomptions Principe de précaution Responsabilité civile Responsabilité contractuelle Responsabilité des personnes morales Responsabilité du fait d’autrui Responsabilité du fait des choses Responsabilité du fait personnel Responsabilité extracontractuelle Responsabilité juridique Responsabilité pénale Responsabilité pour faute Responsabilité préventive Responsabilité sans faute Résultat légal Risque Tentative Troubles du voisinage Volonté Abnormality Aggravated faults Attempt Causation Cessation of illegality Civil liability Complicity Duress Contractual liability Corporate personality Crime Criminal law Criminal liability Culpability Damage Dangerousness Discernment Dolus directus Dolus specialis Ecological damage External cause Fault Fault-based liability Force majeure Functional immunities Harm Illegality Impossible crime Individual responsibility Intent Justifications Law of obligations Legal causation Legal consequences Legal personality Legal property Legal responsibility Liability of corporations Material damage Mere faults Moral damage Motive Neighbourhood disturbances Precautionary principle Presumptions Preventive responsibility Recklessness Negligence Responsibility for the actions of things Risk Strict liability Tortious liability Vicarious responsibility Wilfulness 340

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Evaluation of Target Tracking Using Multiple Sensors and Non-Causal Algorithms

Les conditions de la responsabilité en droit privé : éléments pour une théorie générale de la responsabilité juridique / The conditions of responsibility in private law : elements for a general theory of legal responsibility