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This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…
Vehicles crossing bridge structures respond dynamically to the bridge's vibrations. An acceleration signal collected within a moving vehicle contains a trace of the bridge's structural response, but also includes other sources such as the…
Avoiding collisions with vulnerable road users (VRUs) using sensor-based early recognition of critical situations is one of the manifold opportunities provided by the current development in the field of intelligent vehicles. As especially…
Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. To further advance the practical application of service robots in complex dynamic…
Detecting and tracking vehicles in urban scenes is a crucial step in many traffic-related applications as it helps to improve road user safety among other benefits. Various challenges remain unresolved in multi-object tracking (MOT)…
Traffic forecasting is a fundamental task in transportation research, however the scope of current research has mainly focused on a single data modality of loop detectors. Recently, the advances in Artificial Intelligence and drone…
The alertness level of drivers can be estimated with the use of computer vision based methods. The level of fatigue can be found from the value of PERCLOS. It is the ratio of closed eye frames to the total frames processed. The main…
Vision-based dynamic pedestrian intrusion detection (PID), judging whether pedestrians intrude an area-of-interest (AoI) by a moving camera, is an important task in mobile surveillance. The dynamically changing AoIs and a number of…
Accurate traffic flow estimation and prediction are critical for the efficient management of transportation systems, particularly under increasing urbanization. Traditional methods relying on static sensors often suffer from limited spatial…
Accurately detecting and tracking pedestrians in 3D space is challenging due to large variations in rotations, poses and scales. The situation becomes even worse for dense crowds with severe occlusions. However, existing benchmarks either…
Vehicles provide an ideal platform for urban sensing applications, as they can be equipped with all kinds of sensing devices that can continuously monitor the environment around the travelling vehicle. In this work we are particularly…
Increasing urban concentration raises operational challenges that can benefit from integrated monitoring and decision support. Such complex systems need to leverage the full stack of analytical methods, from state estimation using…
This paper presents a lidar-only state estimation and tracking framework, along with a roadside sensing unit for integration with existing urban infrastructure. Urban deployments demand scalable, real-time tracking solutions, yet…
As autonomous systems begin to operate amongst humans, methods for safe interaction must be investigated. We consider an example of a small autonomous vehicle in a pedestrian zone that must safely maneuver around people in a free-form…
Sensor fusion is crucial for a performant and robust Perception system in autonomous vehicles, but sensor staleness, where data from different sensors arrives with varying delays, poses significant challenges. Temporal misalignment between…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
The major advances in intelligent transportation systems are pushing societal services toward autonomy where road management is to be more agile in order to cope with changes and continue to yield optimal performance. However, the…
The integration of Automated Delivery Robots (ADRs) into pedestrian-heavy urban spaces introduces unique challenges in terms of safe, efficient, and socially acceptable navigation. We develop the complete pipeline for a single vision sensor…
In this paper a new method based on the fusion of optical and radar data is proposed to detect and remotely interrogate mobile and passive sensors. The sensors are detected in real time by using an optical camera, while their remote reading…
Potential crowd flow prediction for new planned transportation sites is a fundamental task for urban planners and administrators. Intuitively, the potential crowd flow of the new coming site can be implied by exploring the nearby sites.…