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For high resolution scene mapping and object recognition, optical technologies such as cameras and LiDAR are the sensors of choice. However, for robust future vehicle autonomy and driver assistance in adverse weather conditions,…

Reliable and accurate lane detection has been a long-standing problem in the field of autonomous driving. In recent years, many approaches have been developed that use images (or videos) as input and reason in image space. In this paper we…

Edge computing enables data processing closer to the source, significantly reducing latency, an essential requirement for real-time vision-based analytics such as object detection in surveillance and smart city environments. However, these…

In surveillance, monitoring and tactical reconnaissance, gathering the right visual information from a dynamic environment and accurately processing such data are essential ingredients to making informed decisions which determines the…

The challenges to solving the collision avoidance problem lie in adaptively choosing optimal robot velocities in complex scenarios full of interactive obstacles. In this paper, we propose a distributed approach for multi-robot navigation…

Rapid and reliable identification of dynamic scene parts, also known as motion segmentation, is a key challenge for mobile sensors. Contemporary RGB camera-based methods rely on modeling camera and scene properties however, are often…

In this paper, we propose a new autonomous braking system based on deep reinforcement learning. The proposed autonomous braking system automatically decides whether to apply the brake at each time step when confronting the risk of collision…

Traffic accidents are a leading cause of fatalities and injuries across the globe. Therefore, the ability to anticipate hazardous situations in advance is essential. Automated accident anticipation enables timely intervention through driver…

Achieving safe, high-speed autonomous flight in complex environments with static, dynamic, or mixed obstacles remains challenging, as a single perception modality is incomplete. Depth cameras are effective for static objects but suffer from…

We present the first event-based learning approach for motion segmentation in indoor scenes and the first event-based dataset - EV-IMO - which includes accurate pixel-wise motion masks, egomotion and ground truth depth. Our approach is…

Data annotation in autonomous vehicles is a critical step in the development of Deep Neural Network (DNN) based models or the performance evaluation of the perception system. This often takes the form of adding 3D bounding boxes on…

We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…

Event camera-based driver monitoring is emerging as a pivotal area of research, driven by its significant advantages such as rapid response, low latency, power efficiency, enhanced privacy, and prevention of undersampling. Effective…

Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…

Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…

Previous studies on event camera sensing have demonstrated certain detection performance using dense event representations. However, the accumulated noise in such dense representations has received insufficient attention, which degrades the…

We present a self-supervised approach to ignoring "distractors" in camera images for the purposes of robustly estimating vehicle motion in cluttered urban environments. We leverage offline multi-session mapping approaches to automatically…

In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…

In this paper, Object Detection and Tracking System (ODTS) in combination with a well-known deep learning network, Faster Regional Convolution Neural Network (Faster R-CNN), for Object Detection and Conventional Object Tracking algorithm…