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This letter presents a novel radar based, single-frame, multi-class detection method for moving road users (pedestrian, cyclist, car), which utilizes low-level radar cube data. The method provides class information both on the radar target-…
Due to the great growth of motorcycles in the urban fleet and the growth of the study on its behavior and of how this vehicle affects the flow of traffic becomes necessary the development of tools and techniques different from the…
Predicting the safety of urban roads for navigation via global navigation satellite systems (GNSS) signals is considered. To ensure safe driving of automated vehicles, the vehicle must plan its trajectory to avoid navigating on unsafe roads…
Road segmentation in challenging domains, such as night, snow or rain, is a difficult task. Most current approaches boost performance using fine-tuning, domain adaptation, style transfer, or by referencing previously acquired imagery. These…
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…
Quadrupedal mobile robots can traverse a wider range of terrain types than their wheeled counterparts but do not perform the same on all terrain types. These robots are prone to undesirable behaviours like sinking and slipping on…
The availability of the Global Positioning System (GPS) trajectory data is increasing along with the availability of different GPS receivers and with the increasing use of various mobility services. GPS trajectory is an important data…
Modern mobile applications such as navigation services and ride-sharing platforms rely heavily on geospatial technologies, most critically predictions of the time required for a vehicle to traverse a particular route, or the so-called…
Cyclists travelling in urban areas are particularly at risk of harm from particulate emissions due to their increased breathing rate and proximity to vehicles. In this paper we combine human respiratory models with models of particulate…
Autonomous driving systems are broadly used equipment in the industries and in our daily lives, they assist in production, but are majorly used for exploration in dangerous or unfamiliar locations. Thus, for a successful exploration,…
Estimation of tactile properties from vision, such as slipperiness or roughness, is important to effectively interact with the environment. These tactile properties help us decide which actions we should choose and how to perform them.…
Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…
This paper presents a method for pose estimation of off-road vehicles moving over uneven terrain. It determines the contact points between the wheels and the terrain, assuming rigid contacts between an arbitrary number of wheels and ground.…
Poor road conditions are a public nuisance, causing passenger discomfort, damage to vehicles, and accidents. In the U.S., road-related conditions are a factor in 22,000 of the 42,000 traffic fatalities each year. Although we often complain…
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…
We present a method that uses high-resolution topography data of rough terrain, and ground vehicle simulation, to predict traversability. Traversability is expressed as three independent measures: the ability to traverse the terrain at a…
With the increasing demand for mobile robots and autonomous vehicles, several approaches for long-term robot navigation have been proposed. Among these techniques, ground segmentation and traversability estimation play important roles in…
Transportation networks serve as windows into the complex world of urban systems. By properly characterizing a road network, we can therefore better understand its encompassing urban system. This study offers a geometrical approach towards…
We consider the problem of predicting an individual's identity from accelerometry data collected during walking. In a previous paper we introduced an approach that transforms the accelerometry time series into an image by constructing its…
In shared spaces, motorized and non-motorized road users share the same space with equal priority. Their movements are not regulated by traffic rules, hence they interact more frequently to negotiate priority over the shared space. To…