Related papers: Sensor Visibility Estimation: Metrics and Methods …
Sensor configuration, including the sensor selections and their installation locations, serves a crucial role in autonomous driving. A well-designed sensor configuration significantly improves the performance upper bound of the perception…
High-accurate machine learning (ML) image classifiers cannot guarantee that they will not fail at operation. Thus, their deployment in safety-critical applications such as autonomous vehicles is still an open issue. The use of fault…
In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…
Sensing and Perception (S&P) is a crucial component of an autonomous system (such as a robot), especially when deployed in highly dynamic environments where it is required to react to unexpected situations. This is particularly true in case…
Image sensors hold a pivotal role in society due to their ability to capture vast amounts of information. Traditionally, image sensors are opaque due to light absorption in both the pixels and the read-out electronics that are stacked on…
Vision is a popular and effective sensor for robotics from which we can derive rich information about the environment: the geometry and semantics of the scene, as well as the age, gender, identity, activity and even emotional state of…
We present a framework that allows an observer to determine occluded portions of a structure by finding the maximum-likelihood estimate of those occluded portions consistent with visible image evidence and a consistency model. Doing this…
Near-field perception is essential for the safe operation of autonomous mobile robots (AMRs) in manufacturing environments. Conventional ranging sensors such as light detection and ranging (LiDAR) and ultrasonic devices provide broad…
Multi-sensor fusion models play a crucial role in autonomous driving perception, particularly in tasks like 3D object detection and HD map construction. These models provide essential and comprehensive static environmental information for…
A major challenge in the safety assessment of automated vehicles is to ensure that risk for all traffic participants is as low as possible. A concept that is becoming increasingly popular for testing in automated driving is scenario-based…
Traffic Surveillance Systems (TSS) have become increasingly crucial in modern intelligent transportation systems, with vision technologies playing a central role for scene perception and understanding. While existing surveys typically focus…
In this paper, we extend the recent body of work on planning under uncertainty to include the fact that sensors may not provide any measurement owing to misdetection. This is caused either by adverse environmental conditions that prevent…
Perception systems, especially cameras, are the eyes of automated driving systems. Ensuring that they function reliably and robustly is therefore an important building block in the automation of vehicles. There are various approaches to…
Predicting the motion of other road agents enables autonomous vehicles to perform safe and efficient path planning. This task is very complex, as the behaviour of road agents depends on many factors and the number of possible future…
Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…
Autonomous vehicles rely on perception systems to understand their surroundings for further navigation missions. Cameras are essential for perception systems due to the advantages of object detection and recognition provided by modern…
Visual Place Recognition (VPR) enables robots and autonomous vehicles to identify previously visited locations by matching current observations against a database of known places. However, VPR systems face significant challenges when…
This paper proposes a method to estimate the pose of a sensor mounted on a vehicle as the vehicle moves through the world, an important topic for autonomous driving systems. Based on a set of commonly deployed vehicular odometric sensors,…
Tactile sensors, which provide information about the physical properties of objects, are an essential component of robotic systems. The visuotactile sensing technology with the merits of high resolution and low cost has facilitated the…
The use of smart roadside infrastructure sensors is highly relevant for future applications of connected and automated vehicles. External sensor technology in the form of intelligent transportation system stations (ITS-Ss) can provide…