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Safe highway autonomy for heavy trucks remains an open and unsolved challenge: due to long braking distances, scene understanding of hundreds of meters is required for anticipatory planning and to allow safe braking margins. However,…
We explore the problem of intersection classification using monocular on-board passive vision, with the goal of classifying traffic scenes with respect to road topology. We divide the existing approaches into two broad categories according…
Online camera-to-ground calibration is to generate a non-rigid body transformation between the camera and the road surface in a real-time manner. Existing solutions utilize static calibration, suffering from environmental variations such as…
The state of the art in 3D object detection using sensor fusion heavily relies on calibration quality, which is difficult to maintain in large scale deployment outside a lab environment. We present the first calibration-free approach for 3D…
While most recent autonomous driving system focuses on developing perception methods on ego-vehicle sensors, people tend to overlook an alternative approach to leverage intelligent roadside cameras to extend the perception ability beyond…
HD map reconstruction is crucial for autonomous driving. LiDAR-based methods are limited due to expensive sensors and time-consuming computation. Camera-based methods usually need to perform road segmentation and view transformation…
For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…
LiDAR-camera fusion is one of the core processes for the perception system of current automated driving systems. The typical sensor fusion process includes a list of coordinate transformation operations following system calibration.…
Image-based depth estimation has gained significant attention in recent research on computer vision for autonomous vehicles in intelligent transportation systems. This focus stems from its cost-effectiveness and wide range of potential…
For humans, understanding the relationships between objects using visual signals is intuitive. For artificial intelligence, however, this task remains challenging. Researchers have made significant progress studying semantic relationship…
Animals have been a common sighting on roads in India which leads to several accidents between them and vehicles every year. This makes it vital to develop a support system for driverless vehicles that assists in preventing these forms of…
Time-to-Collision (TTC) estimation lies in the core of the forward collision warning (FCW) functionality, which is key to all Automatic Emergency Braking (AEB) systems. Although the success of solutions using frame-based cameras (e.g.,…
The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…
Effective monitoring of unusual transportation behaviors, such as wrong-way cycling (i.e., riding a bicycle or e-bike against designated traffic flow), is crucial for optimizing law enforcement deployment and traffic planning. However,…
Vehicular communication systems operating in the millimeter wave (mmWave) band are highly susceptible to signal blockage from dynamic obstacles such as vehicles, pedestrians, and infrastructure. To address this challenge, we propose a…
Understanding ego-motion and surrounding vehicle state is essential to enable automated driving and advanced driving assistance technologies. Typical approaches to solve this problem use fusion of multiple sensors such as LiDAR, camera, and…
Robust 3D object detection is critical for safe autonomous driving. Camera and radar sensors are synergistic as they capture complementary information and work well under different environmental conditions. Fusing camera and radar data is…
Vehicle speed monitoring and management of highways is the critical problem of the road in this modern age of growing technology and population. A poor management results in frequent traffic jam, traffic rules violation and fatal road…
Vehicle detection in real-time scenarios is challenging because of the time constraints and the presence of multiple types of vehicles with different speeds, shapes, structures, etc. This paper presents a new method relied on generating a…
Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…