Related papers: Kharita: Robust Map Inference using Graph Spanners
Trajectory planning at high velocities and at the handling limits is a challenging task. In order to cope with the requirements of a race scenario, we propose a far-sighted two step, multi-layered graph-based trajectory planner, capable to…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
In order to improve offline map matching accuracy of low-sampling-rate GPS, a map matching algorithm based on conditional random fields (CRF) and route preference mining is proposed. In this algorithm, road offset distance and the…
The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary information gain formulations. However, they are prone to local…
The widespread adoption of smartphones in recent years has made it possible for us to collect large amounts of traffic data. Special software installed on the phones of drivers allow us to gather GPS trajectories of their vehicles on the…
To handle the two shortcomings of existing methods, (i)nearly all models rely on high-definition (HD) maps, yet the map information is not always available in real traffic scenes and HD map-building is expensive and time-consuming and (ii)…
As maintaining road networks is labor-intensive, many automatic road extraction approaches have been introduced to solve this real-world problem, fueled by the abundance of large-scale high-resolution satellite imagery and advances in…
Efficient and reliable generation of global path plans are necessary for safe execution and deployment of autonomous systems. In order to generate planning graphs which adequately resolve the topology of a given environment, many…
Graph embedding has attracted increasing attention due to its critical application in social network analysis. Most existing algorithms for graph embedding only rely on the typology information and fail to use the copious information in…
Graph Neural Networks (GNNs) have made significant advances on several fundamental inference tasks. As a result, there is a surge of interest in using these models for making potentially important decisions in high-regret applications.…
Paper maps remain widely used for hiking and sightseeing because they contain curated trails and locally relevant annotations that are often missing from digital navigation applications such as Google Maps. We propose a pipeline to extract…
Active SLAM is the task of actively planning robot paths while simultaneously building a map and localizing within. Existing work has focused on planning paths with occupancy grid maps, which do not scale well and suffer from long term…
Autonomous vehicles are gradually entering city roads today, with the help of high-definition maps (HDMaps). However, the reliance on HDMaps prevents autonomous vehicles from stepping into regions without this expensive digital…
In applications of graphical models, we typically have more information than just the samples themselves. A prime example is the estimation of brain connectivity networks based on fMRI data, where in addition to the samples themselves, the…
Accurate Traffic Prediction is a challenging task in intelligent transportation due to the spatial-temporal aspects of road networks. The traffic of a road network can be affected by long-distance or long-term dependencies where existing…
Autonomous robots for gathering information on objects of interest has numerous real-world applications because of they improve efficiency, performance and safety. Realizing autonomy demands online planning algorithms to solve sequential…
Multiple mobile robots play a significant role in various spatially distributed tasks.In unfamiliar and non-repetitive scenarios, reconstructing the global map is time-inefficient and sometimes unrealistic. Hence, research has focused on…
Modern computer networks support interesting new routing models in which traffic flows from a source s to a destination t can be flexibly steered through a sequence of waypoints, such as (hardware) middleboxes or (virtualized) network…
Modern smartphones have all the sensing capabilities required for accurate and robust navigation and tracking. In specific environments some data streams may be absent, less reliable, or flat out wrong. In particular, the GNSS signal can…