Arjuna P. Balasuriya

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Road-boundary detection is an integral and important function in advanced driver-assistance systems and autonomous vehicle navigation systems. A prominent feature of roads in urban, semi-urban, and similar environments, such as in theme parks, campus sites, industrial estates, science parks, and the like, is curbs on either side defining the road's(More)
In this ariticle, a data fusion based algorithm is proposed to identify and track moving objects for autonomous vehicle navigation. It is a challenging problem because both the object and the cameras are moving. Here, the optical flow vector field, color features, and stereo pair disparities are used as visual features, while the vehicle’s motion-sensor(More)
In the underwater environment, spatiotemporally dynamic environmental conditions pose challenges to the detection and tracking of hydrographic features. A useful tool in combating these challenge is Autonomous Adaptive Environmental Assessment (AAEA) employed on board Autonomous Underwater Vehicles (AUVs). AAEA is a process by which an AUV autonomously(More)
This work addresses mission planning for autonomous underwater gliders based on predictions of an uncertain, time-varying current field. Glider submersibles are highly sensitive to prevailing currents so mission planners must account for ocean tides and eddies. Previous work in variable-current path planning assumes that current predictions are perfect, but(More)
This paper is about the autonomous control of an autonomous underwater vehicle (AUV), and the particular considerations required to allow proper control while towing a 100-meter vector sensor array. Mission related objectives are tempered by the need to consider the effect of a sequence of maneuvers on the motion of the towed array which is thought not to(More)
The paper describes an effort to combine real-time obstacle avoidance with simultaneous localization and mapping (SLAM) for autonomous underwater vehicles (AUVs) operating in close proximity to obstacles and man-made structures such as ship hulls and piers. Our work makes two primary contributions: (1) we demonstrate the application of the Atlas framework(More)
Assistive robots are increasingly being used to improve the quality of the life of disabled or handicapped people. In this paper a complete system is presented that can be used by people with extremely limited peripheral mobility but having the ability for eye motor coordination. The electrooculogram signals (EOG) that results from the eye displacement in(More)
This paper proposes an approach for object identification and tracking for autonomous vehicle application. In this scheme, data from the vehicle’s onboard vision and motion sensors are fused to identify the target 3D dynamic features in the world coordinate. Here several simple and basic linear dynamic models are combined to make the approximation of(More)
In this paper, a novel algorithm is proposed for the vision-based object tracking by autonomous vehicles. To estimate the velocity of the tracked object, the algorithm fuses the information captured by the vehicle’s on-board sensors such as the cameras and inertial motion sensors. Optical flow vectors, color features, stereo pair disparities are used as(More)
The number of road accident related fatalities and damages are reduced substantially by improving road infrastructure and enacting and imposing laws. Further reduction is possible through embedding intelligence onto the vehicles for safe decision making. Road boundary information plays a major role in developing such intelligent vehicles. A prominent(More)