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Ensuring traffic safety is crucial, which necessitates the detection and prevention of road surface defects. As a result, there has been a growing interest in the literature on the subject, leading to the development of various road surface…
Visibility distance on the road pathway plays a significant role in road safety and in particular, has a clear impact on the choice of speed limits. Visibility distance is thus of importance for road engineers and authorities. While…
Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object…
Autonomous hazard detection and avoidance is a key technology for future landing missions in unknown surface conditions. Current state-of-the-art stochastic algorithms assume simple Gaussian measurement noise on dense, high-fidelity digital…
Estimating the confidence of disparity maps inferred by a stereo algorithm has become a very relevant task in the years, due to the increasing number of applications leveraging such cue. Although self-supervised learning has recently spread…
Accurate depth estimation is critical for autonomous driving perception systems, particularly for long range vehicle detection on highways. Traditional dense stereo matching methods such as Block Matching (BM) and Semi Global Matching (SGM)…
We propose a stereo vision-based approach for tracking the camera ego-motion and 3D semantic objects in dynamic autonomous driving scenarios. Instead of directly regressing the 3D bounding box using end-to-end approaches, we propose to use…
Accurate automated detection of road pavement distresses is critical for the timely identification and repair of potentially accident-inducing road hazards such as potholes and other surface-level asphalt cracks. Deployment of such a system…
Building a fully autonomous self-driving system has been discussed for more than 20 years yet remains unsolved. Previous systems have limited ability to scale. Their localization subsystem needs labor-intensive map recording for running in…
We propose a novel and pragmatic framework for traffic scene perception with roadside cameras. The proposed framework covers a full-stack of roadside perception pipeline for infrastructure-assisted autonomous driving, including object…
Geo-localizing static objects from street images is challenging but also very important for road asset mapping and autonomous driving. In this paper we present a two-stage framework that detects and geolocalizes traffic signs from low frame…
Automotive self-localization is an essential task for any automated driving function. This means that the vehicle has to reliably know its position and orientation with an accuracy of a few centimeters and degrees, respectively. This paper…
The detection of previously unseen, unexpected obstacles on the road is a major challenge for automated driving systems. Different from the detection of ordinary objects with pre-definable classes, detecting unexpected obstacles on the road…
Road traffic accidents remain a significant global concern, with human error, particularly distracted and impaired driving, among the leading causes. This study introduces a novel driver behaviour classification system that uses external…
In this paper, an stereo-based traversability analysis approach for all terrains in off-road mobile robotics, e.g. Unmanned Ground Vehicles (UGVs) is proposed. This approach reformulates the problem of terrain traversability analysis into…
With the advent of self-driving cars and autonomous robots, it is imperative to detect road impairments like cracks and potholes and to perform necessary evading maneuvers to ensure fluid journey for on-board passengers or equipment. We…
This paper presents a novel obstacle avoidance system for road robots equipped with RGB-D sensor that captures scenes of its way forward. The purpose of the system is to have road robots move around autonomously and constantly without any…
Road-safety inspection is an indispensable instrument for reducing road-accident fatalities contributed to road infrastructure. Recent work formalizes road-safety assessment in terms of carefully selected risk factors that are also known as…
Automatic detection of traffic accidents is an important emerging topic in traffic monitoring systems. Nowadays many urban intersections are equipped with surveillance cameras connected to traffic management systems. Therefore, computer…
Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…