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A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…
It has been for a long time to use big data of autonomous vehicles for perception, prediction, planning, and control of driving. Naturally, it is increasingly questioned why not using this big data for risk management and actuarial…
In this work, we address a fundamental and critical task of detecting the behavior of driving and texting using smartphones carried by users. We propose, design, and implement TEXIVE that leverages various sensors integrated in the…
Human activity recognition has become an attractive research area with the development of on-body wearable sensing technology. With comfortable electronic-textiles, sensors can be embedded into clothing so that it is possible to record…
Driver behavior profiling is one of the main issues in the insurance industries and fleet management, thus being able to classify the driver behavior with low-cost mobile applications remains in the spotlight of autonomous driving. However,…
As the popularity of autonomous vehicles has grown, many standards and regulators, such as ISO, NHTSA, and Euro NCAP, require safety validation to ensure a sufficient level of safety before deploying them in the real world. Manufacturers…
Advanced driving assistance systems (ADAS) are primarily designed to increase driving safety and reduce traffic congestion without paying too much attention to passenger comfort or motion sickness. However, in view of autonomous cars, and…
Mobility On Demand (MOD) systems are revolutionizing transportation in urban settings by improving vehicle utilization and reducing parking congestion. A key factor in the success of an MOD system is the ability to measure and respond to…
This paper introduces an approach that enhances the state estimator for high-speed autonomous race cars, addressing challenges from unreliable measurements, localization failures, and computing resource management. The proposed robust…
We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…
Despite the continual advances in Advanced Driver Assistance Systems (ADAS) and the development of high-level autonomous vehicles (AV), there is a general consensus that for the short to medium term, there is a requirement for a human…
The rapid development of autonomous driving, abnormal behavior detection, and behavior recognition makes an increasing demand for multi-person pose estimation-based applications, especially on mobile platforms. However, to achieve high…
A key factor to optimal acceptance and comfort of automated vehicle features is the driving style. Mismatches between the automated and the driver preferred driving styles can make users take over more frequently or even disable the…
Autonomous shuttles (AS) operate in several cities and have shown potential to improve the public transport network. However, there is no car following model that is based on field data and allows decision-makers to assess and plan for AS…
Velocity estimation is a core component of state estimation and sensor fusion pipelines in mobile robotics and autonomous ground systems, directly affecting navigation accuracy, control stability, and operational safety. In conventional…
Dressing is a fundamental task of everyday living and robots offer an opportunity to assist people with motor impairments. While several robotic systems have explored robot-assisted dressing, few have considered how a robot can manage…
Pervasive and mobile sensing is an integral part of smart transport and smart city applications. Vehicle-based mobile sensing, or drive-by sensing (DS), is gaining popularity in both academic research and field practice. The DS paradigm has…
Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…
The availability of real-world data is a key element for novel developments in the fields of automotive and traffic research. Aerial imagery has the major advantage of recording multiple objects simultaneously and overcomes limitations such…