Abstract: A method for determining a spatial position of an object using an image calibrated relative to a reference frame. The method comprises, after obtaining a candidate region associated with the object in the reference frame and projecting the candidate region into the calibrated image, adjusting the projected candidate region based on an image element associated with the object in the calibrated image, and determining a spatial position of the object using the adjusted projected candidate region.

Abstract: According to some embodiments, there is provided a Collective Perception Message, CPM, characterizing a plurality of Vulnerable Road Users based on a plurality of received VAMs, thereby allowing an ITS station to efficiently aggregate VAM messages from VRUs and retransmit information about the VRUs to other ITS stations. Consequently, the security is improved as some ITS stations may not be able to detect or identify VRU stations by themselves but thanks to the CPM, these stations can still be informed of the VRUs. According to other aspects, congestion is avoided while maintaining safety vis-à-vis VRUs thanks to the use of a different transmission scheme when the VRU is already characterized in a CPM sent to the ITS stations. Also, a receiving station can evaluate whether the content of a CPM can be trusted or not. Safety is thus improved. This is achieved thanks to the CPM that references a certificate.

Abstract: According to embodiments, the invention provides a method for encapsulating partitioned timed media data comprising timed samples, comprising in turn subsamples, the timed samples being grouped into groups, the method comprising: obtaining spatial tracks, each spatial track comprising at least one subsample of a first timed sample and one corresponding subsample of the other timed samples, the corresponding subsamples being located at the same spatial position in its own timed sample as the at least one subsample; creating a base track referencing at least some of the spatial tracks, the base track comprising reconstruction instructions, each of the reconstruction instructions being associated with a group of timed samples, enabling generating a portion of a bit-stream from subsamples of spatial tracks, that belong to a same group of timed samples; and independently encapsulating each of the tracks in a least one media file.

Abstract: A method for transmitting a Collective Perception Message, CPM, the method being intended for an Intelligent Transport System, ITS, comprising at least one originating ITS station, ITS-S, the method comprising the following steps, at the at least one originating ITS-S: transmitting a CPM reporting information related to at least one object detected within an area monitored by the originating ITS-S; wherein the reported information comprises a safety-critical categorization information, indicating whether the detected object is critical for the safety of the monitored area.

Abstract: According to some embodiments, there is provided a Collective Perception Message, CPM, characterizing a plurality of Vulnerable Road Users based on a plurality of received VAMs, thereby allowing an ITS station to efficiently aggregate VAM messages from VRUs and retransmit information about the VRUs to other ITS stations. Consequently, the security is improved as some ITS stations may not be able to detect or identify VRU stations by themselves but thanks to the CPM, these stations can still be informed of the VRUs. According to other aspects, congestion is avoided while maintaining safety vis-à-vis VRUs thanks to the use of a different transmission scheme when the VRU is already characterized in a CPM sent to the ITS stations. Also, a receiving station can evaluate whether the content of a CPM can be trusted or not. Safety is thus improved. This is achieved thanks to the CPM that references a certificate.

Abstract: According to some embodiments of the disclosure, it is provided a method for spatial calibration of a first image against a second image. After obtaining a plurality of pairs of points of interest, each pair matching a point of interest in the first image to a corresponding point of interest in the second image, the method further comprises determining, iteratively, a projection model between the two images and calibrating the first image based on the determined projected model. An iteration of the determining comprises displacing a position of a point of interest, determining a projection model candidate using multiple pairs of points of interest and evaluating a reprojection error between the positions of the points of interest as projected using the projection model candidate and the corresponding points of interest.

Abstract: According to some embodiments of the disclosure, it is provided a method of communication in an intelligent transport system, ITS. After having perceived an object within an area monitored by the ITS-S, at a first given time, an estimation of a state of the object is obtained at a second given time, if the object is no longer perceived by the ITS-S at the second given time and a Collective Perception Message, CPM, comprising items of information related to the estimated state of the object is transmitted.

Abstract: According to some embodiments of the disclosure, it is provided a method of communication in an intelligent transport system, ITS, comprising, at an originating ITS station, ITS-S, monitoring an area, transmitting a Collective Perception Message, CPM, comprising predicted data representing a predicted behavior of an object perceived by the originating ITS-S within the monitored area, the CPM further comprising an item of information characterizing the predicted behavior with regard to at least one element of the monitored area.

Abstract: According to some embodiments of the disclosure, it is provided a method of communication in an intelligent transport system, ITS, comprising at an ITS station, ITS-S, receiving a request to perform a perception measurement, the received request comprising a reference to at least one target object located in an area monitored by the ITS-S. In response, after having carried out a measurement of one or more attributes of the at least one referenced target object, an ITS message including items of information characterizing the one or more measured attributes of the at least one referenced target object is transmitted.

Abstract: According to some embodiments of the disclosure, it is provided a method of communication in an intelligent transport system, ITS, comprising at an ITS test station, sending to an ITS station, ITS-S, under test, SUT, different from the ITS test station, a request to report perception of objects within an area deemed to be monitored by the SUT, the request comprising items of information characterizing objects that perception is to be reported. In response to the request, an ITS message generated by the SUT is received, the ITS message comprising information directed to perception of objects as requested. Based on the received ITS message, it may be determined whether the SUT is misbehaving.

Abstract: The present invention regards Cooperative Intelligent Transportation Systems, C-ITS. In response to detecting at least one situation involving at least one object detected within an area monitored by the ITS, a Collective Perception Message, CPM, is generated and transmitted. The CPM comprises a reference to the at least one object and an indication to indicate that the at least one object is involved in the at least one situation.

Abstract: A communication method for an Intelligent Transport System (ITS) comprising at least one first transmitting ITS station, the method taking place at the first transmitting ITS station including transmitting a second Collective Perception Message (CPM) comprising at least one identifier of a first element previously transmitted in a first CPM, the first element being not present in the second CPM.

Abstract: A method of communication in an Intelligent Transport System, ITS, comprising, at an originating ITS station reporting in a collective perception message an element describing a space representing a specific area of a road topology.

Abstract: According to some embodiments, there is provided a Collective Perception Message, CPM, characterizing a plurality of Vulnerable Road Users based on a plurality of received VAMs, thereby allowing an ITS station to efficiently aggregate VAM messages from VRUs and retransmit information about the VRUs to other ITS stations. Consequently, the security is improved as some ITS stations may not be able to detect or identify VRU stations by themselves but thanks to the CPM, these stations can still be informed of the VRUs. According to other aspects, congestion is avoided while maintaining safety vis-à-vis VRUs thanks to the use of a different transmission scheme when the VRU is already characterized in a CPM sent to the ITS stations. Also, a receiving station can evaluate whether the content of a CPM can be trusted or not. Safety is thus improved. This is achieved thanks to the CPM that references a certificate.

Abstract: A Cooperative Intelligent Transportation Systems, C-ITS. A single DENM, i.e. a warning message announcing a detected event such as an accident/collision or a risk of collision or a pre-crash situation, conveys information about multiple objects involved in the detected situation, in particular about the critical objects involved in the collision. The originating ITS station, ITS-S, quickly builds the DENM because containers describing the objects it perceives are already built in a so-called Local Dynamic Map or Environment Model. On the other side, the receiving ITS-S involved in the detected event obtains more information from the single DENM, compared to known technics (CAMs or CPMs). It can then perform a quicker analysis of the situation and then decide earlier to activate or not anti-collision or pre-crash functions.

Abstract: According to some embodiments, there is provided a Collective Perception Message, CPM, characterizing a plurality of Vulnerable Road Users based on a plurality of received VAMs, thereby allowing an ITS station to efficiently aggregate VAM messages from VRUs and retransmit information about the VRUs to other ITS stations. Consequently, the security is improved as some ITS stations may not be able to detect or identify VRU stations by themselves but thanks to the CPM, these stations can still be informed of the VRUs. According to other aspects, congestion is avoided while maintaining safety vis-à-vis VRUs thanks to the use of a different transmission scheme when the VRU is already characterized in a CPM sent to the ITS stations. Also, a receiving station can evaluate whether the content of a CPM can be trusted or not. Safety is thus improved. This is achieved thanks to the CPM that references a certificate.

Abstract: According to embodiments, the invention provides a method for encapsulating partitioned timed media data comprising timed samples, comprising in turn subsamples, the timed samples being grouped into groups, the method comprising: obtaining spatial tracks, each spatial track comprising at least one subsample of a first timed sample and one corresponding subsample of the other timed samples, the corresponding subsamples being located at the same spatial position in its own timed sample as the at least one subsample; creating a base track referencing at least some of the spatial tracks, the base track comprising reconstruction instructions, each of the reconstruction instructions being associated with a group of timed samples, enabling generating a portion of a bit-stream from sub-samples of spatial tracks, that belong to a same group of timed samples; and independently encapsulating each of the tracks in a least one media file.

Abstract: A method of encoding video data comprising pictures into a bitstream of logical units, pictures being divided into picture portions, picture portions being grouped into picture portion groups, the method comprising: identifying a picture portion group encoded as a picture portion group header and a picture portion group encoded video data, the picture portion group header comprising at least one identifier of a logical unit containing a parameter set; generating rewriting information comprising a new value of the identifier of the logical unit containing the parameter set; and encoding the video data into a bitstream comprising the picture portion group and the rewriting information.

Abstract: There is provided a processing method of an Intelligent Transport System, ITS, comprising transmitting and receiving ITS stations, the method comprising, at a receiving ITS station: determining that a first transmitting ITS station associated with a first identifier is located at a first location; receiving a message indicating that a second transmitting ITS station associated with a second identifier is located at the first location; and if, during a limited period of time, the receiving ITS station further receives at least one other message identifying a transmitting ITS station associated with the second identifier and does not receive another message identifying a transmitting ITS station associated with the first identifier, determining that the first and the second transmitting ITS stations are a same transmitting ITS station.

Abstract: According to some embodiments, there is provided a Collective Perception Message, CPM, characterizing a plurality of Vulnerable Road Users based on a plurality of received VAMs, thereby allowing an ITS station to efficiently aggregate VAM messages from VRUs and retransmit information about the VRUs to other ITS stations. Consequently, the security is improved as some ITS stations may not be able to detect or identify VRU stations by themselves but thanks to the CPM, these stations can still be informed of the VRUs. According to other aspects, congestion is avoided while maintaining safety vis-à-vis VRUs thanks to the use of a different transmission scheme when the VRU is already characterized in a CPM sent to the ITS stations. Also, a receiving station can evaluate whether the content of a CPM can be trusted or not. Safety is thus improved. This is achieved thanks to the CPM that references a certificate.