Related papers: Perception Entropy: A Metric for Multiple Sensors …
Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a…
Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors…
Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…
The idea of cooperative perception is to benefit from shared perception data between multiple vehicles and overcome the limitations of on-board sensors on single vehicle. However, the fusion of multi-vehicle information is still challenging…
We present a novel method for testing the safety of self-driving vehicles in simulation. We propose an alternative to sensor simulation, as sensor simulation is expensive and has large domain gaps. Instead, we directly simulate the outputs…
Collaborative perception enables agents to share complementary perceptual information with nearby agents. This would improve the perception performance and alleviate the issues of single-view perception, such as occlusion and sparsity. Most…
The vehicle's perception sensors radar, lidar and camera, which must work continuously and without restriction, especially with regard to automated/autonomous driving, can lose performance due to unfavourable weather conditions. This paper…
Technological advancements in miniaturization and wireless communications are yielding more affordable and versatile sensors and, in turn, more applications in which a network of sensors can be actively managed to best support overall…
For many real time applications, it is important to validate the information received from the sensors before entering higher levels of reasoning. This paper presents an any time probabilistic algorithm for validating the information…
In this paper we prove the existence of a fundamental trade-off between accuracy and robustness in perception-based control, where control decisions rely solely on data-driven, and often incompletely trained, perception maps. In particular,…
The simultaneous estimation of multiple unknown parameters is the most general scenario in quantum sensing. Quantum multi-parameter estimation theory provides fundamental bounds on the achievable precision of simultaneous estimation.…
The evaluation of Indoor Positioning Systems (IPS) mostly relies on local deployments in the researchers' or partners' facilities. The complexity of preparing comprehensive experiments, collecting data, and considering multiple scenarios…
This paper considers a sequential estimation and sensor scheduling problem with one sensor and one estimator. The sensor makes sequential observations about the state of an underlying memoryless stochastic process, and makes a decision as…
Collaborative perception is essential to address occlusion and sensor failure issues in autonomous driving. In recent years, theoretical and experimental investigations of novel works for collaborative perception have increased…
Recent advances in deep learning have enabled the development of autonomous systems that use deep neural networks for perception. Formal verification of these systems is challenging due to the size and complexity of the perception DNNs as…
We introduce an information measure, termed clarity, motivated by information entropy, and show that it has intuitive properties relevant to dynamic coverage control and informative path planning. Clarity defines the quality of the…
Vision-centric autonomous driving has demonstrated excellent performance with economical sensors. As the fundamental step, 3D perception aims to infer 3D information from 2D images based on 3D-2D projection. This makes driving perception…
Due to the growing awareness of driving safety and the development of sophisticated technologies, advanced driving assistance system (ADAS) has been equipped in more and more vehicles with higher accuracy and lower price. The latest…
Autonomous vehicles need precise knowledge on dynamic objects in their surroundings. Especially in urban areas with many objects and possible occlusions, an infrastructure system based on a multi-sensor setup can provide the required…
The major problem in information theoretic analysis of neural responses and other biological data is the reliable estimation of entropy--like quantities from small samples. We apply a recently introduced Bayesian entropy estimator to…