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Visual Teach and Repeat has shown relative navigation is a robust and efficient solution for autonomous vision-based path following in difficult environments. Adding additional absolute sensors such as Global Navigation Satellite Systems…
In this work, we study the robust subspace tracking (RST) problem and obtain one of the first two provable guarantees for it. The goal of RST is to track sequentially arriving data vectors that lie in a slowly changing low-dimensional…
Distance-based reward mechanisms in deep reinforcement learning (DRL) navigation systems suffer from critical safety limitations in dynamic environments, frequently resulting in collisions when visibility is restricted. We propose DRL-NSUO,…
We present a novel, realtime algorithm to compute the trajectory of each pedestrian in moderately dense crowd scenes. Our formulation is based on an adaptive particle filtering scheme that uses a multi-agent motion model based on…
We propose a novel randomized framework for the estimation problem of large-scale linear statistical models, namely Sequential Least-Squares Estimators with Fast Randomized Sketching (SLSE-FRS), which integrates Sketch-and-Solve and…
Lidar sensors are widely used in various applications, ranging from scientific fields over industrial use to integration in consumer products. With an ever growing number of different driver assistance systems, they have been introduced to…
Automotive synthetic aperture radar (SAR) can achieve a significant angular resolution enhancement for detecting static objects, which is essential for automated driving. Obtaining high resolution SAR images requires precise ego vehicle…
LiDARs are usually more accurate than cameras in distance measuring. Hence, there is strong interest to apply LiDARs in autonomous driving. Different existing approaches process the rich 3D point clouds for object detection, tracking and…
This paper proposes a novel image set classification technique based on the concept of linear regression. Unlike most other approaches, the proposed technique does not involve any training or feature extraction. The gallery image sets are…
This paper presents a controller design and optimization framework for nonlinear dynamic systems to track a given reference signal in the presence of disturbances when the task is repeated over a finite-time interval. This novel framework…
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…
Event-based vision sensors offer asynchronous, high-temporal-resolution measurements that are attractive for low-latency robotic perception, but many event-based motion estimation methods are computationally intensive and difficult to map…
Accurate detection of 3D objects is a fundamental problem in computer vision and has an enormous impact on autonomous cars, augmented/virtual reality and many applications in robotics. In this work we present a novel fusion of neural…
In this paper, we present our proposed approach for active tracking to increase the autonomy of Unmanned Aerial Vehicles (UAVs) using event cameras, low-energy imaging sensors that offer significant advantages in speed and dynamic range.…
Existing tracking algorithms typically rely on low-frame-rate RGB cameras coupled with computationally intensive deep neural network architectures to achieve effective tracking. However, such frame-based methods inherently face challenges…
We present an active learning algorithm for the problem of body schema learning, i.e. estimating a kinematic model of a serial robot. The learning process is done online using Recursive Least Squares (RLS) estimation, which outperforms…
In this paper, we propose a highly accurate continuous-time trajectory estimation framework dedicated to SLAM (Simultaneous Localization and Mapping) applications, which enables fuse high-frequency and asynchronous sensor data effectively.…
The sport-related concussion (SRC) battery relies heavily upon subjective symptom reporting in order to determine the diagnosis of a concussion. Unfortunately, athletes with SRC may return-to-play (RTP) too soon if they are untruthful of…
Estimating the speed of vehicles using traffic cameras is a crucial task for traffic surveillance and management, enabling more optimal traffic flow, improved road safety, and lower environmental impact. Transportation-dependent systems,…
In this study, we propose a novel extended target tracking algorithm which is capable of representing the extent of dynamic objects as an ellipsoid with a time-varying orientation angle. A diagonal positive semi-definite matrix is defined…