Related papers: Cloud-Assisted Collaborative Road Information Disc…
Road detection is a critically important task for self-driving cars. By employing LiDAR data, recent works have significantly improved the accuracy of road detection. Relying on LiDAR sensors limits the wide application of those methods…
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…
This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, assuming only a subset of vehicles are equipped with…
We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algorithm that can exploit the Gaussian map for real-time…
Connected and Automated Vehicles (CAVs) rely on the correctness of position and other vehicle kinematics information to fulfill various driving tasks such as vehicle following, lane change, and collision avoidance. However, a malicious…
This paper describes continuous-space methodologies to estimate the collision probability, Euclidean distance and gradient between an ellipsoidal robot model and an environment surface modeled as a set of Gaussian distributions.…
Robust and realistic rendering for large-scale road scenes is essential in autonomous driving simulation. Recently, 3D Gaussian Splatting (3D-GS) has made groundbreaking progress in neural rendering, but the general fidelity of large-scale…
Collaborative Perception (CP) is a process in which an ego agent receives and fuses sensor information from surrounding vehicles and infrastructure to enhance its perception capability. To evaluate the need for infrastructure equipped with…
Automation can play a prominent role in improving efficiency, accuracy, and scalability in infrastructure surveying and assessing construction and compliance standards. This paper presents a framework for automation of geometric…
Autonomous Land Vehicles (ALV) shall efficiently recognize the ground in unknown environments. A novel $\mathcal{GP}$-based method is proposed for the ground segmentation task in rough driving scenarios. A non-stationary covariance function…
Background modeling is widely used for intelligent surveillance systems to detect moving targets by subtracting the static background components. Most roadside LiDAR object detection methods filter out foreground points by comparing new…
To maintain high perception performance among connected and autonomous vehicles (CAVs), in this paper, we propose an accuracy-aware and resource-efficient raw-level cooperative sensing and computing scheme among CAVs and road-side…
Autonomous racing creates challenging control problems, but Model Predictive Control (MPC) has made promising steps toward solving both the minimum lap-time problem and head-to-head racing. Yet, accurate models of the system are necessary…
As the connectivity of consumer devices is rapidly growing and cloud computing technologies are becoming more widespread, cloud-aided techniques for parameter estimation can be designed to exploit the theoretically unlimited storage memory…
Autonomous driving relies on accurate perception to ensure safe driving. Collaborative perception improves accuracy by mitigating the sensing limitations of individual vehicles, such as limited perception range and occlusion-induced blind…
Existing research on sensor data anomaly detection for industrial sensor networks still has several inherent limitations. First, most detection models usually consider centralized detection. Thus, all sensor data have to be uploaded to the…
Terrain elevation modeling for off-road navigation aims to accurately estimate changes in terrain geometry in real-time and quantify the corresponding uncertainties. Having precise estimations and uncertainties plays a crucial role in…
Depth estimation plays a pivotal role in autonomous driving, facilitating a comprehensive understanding of the vehicle's 3D surroundings. Radar, with its robustness to adverse weather conditions and capability to measure distances, has…
To perform a reliable on-line assessment of fuel consumption in vehicles, we introduce "cumulated vehicle acceleration" as an attribute of GPS probe vehicle traces. The objective of the calculation of the attribute "cumulated vehicle…
Recent advancements in remote sensing technology and the increasing size of satellite constellations allows massive geophysical information to be gathered daily on a global scale by numerous platforms of different fidelity. The…