Related papers: Sensor Visibility Estimation: Metrics and Methods …
Radar sensors are low cost, long-range, and weather-resilient. Therefore, they are widely used for driver assistance functions, and are expected to be crucial for the success of autonomous driving in the future. In many perception tasks…
Manual (hand-related) activity is a significant source of crash risk while driving. Accordingly, analysis of hand position and hand activity occupation is a useful component to understanding a driver's readiness to take control of a…
Localizing predefined 3D keypoints in a 2D image is an effective way to establish 3D-2D correspondences for instance-level 6DoF object pose estimation. However, unreliable localization results of invisible keypoints degrade the quality of…
Validating Advanced Driver Assistance Systems (ADAS) is a strategic issue, since such systems are becoming increasingly widespread in the automotive field. ADAS bring extra comfort to drivers, and this has become a selling point. But these…
Understanding human driving behavior is crucial to develop autonomous vehicles' algorithms. However, most low level automation, such as the one in advanced driving assistance systems (ADAS), is based on objective safety measures, which are…
Unrecognized hazards increase the likelihood of workplace fatalities and injuries substantially. However, recent research has demonstrated that a large proportion of hazards remain unrecognized in dynamic construction environments. Recent…
In this paper, we present a dataset capturing diverse visual data formats that target varying luminance conditions. While RGB cameras provide nourishing and intuitive information, changes in lighting conditions potentially result in…
Safety is a long-standing and the final pursuit in the development of autonomous driving systems, with a significant portion of safety challenge arising from perception. How to effectively evaluate the safety as well as the reliability of…
Environmental perception obtained via object detectors have no predictable safety layer encoded into their model schema, which creates the question of trustworthiness about the system's prediction. As can be seen from recent adversarial…
This paper investigates cooperative estimation of 3D target object motion for visual sensor networks. In particular, we consider the situation where multiple smart vision cameras see a group of target objects. The objective here is to meet…
Purpose. We present a new method to evaluate the accuracy of an eye tracker based eye localization system. Measuring the accuracy of an eye tracker's primary intention, the estimated point of gaze, is usually done with volunteers and a set…
This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…
Driver observation models are rarely deployed under perfect conditions. In practice, illumination, camera placement and type differ from the ones present during training and unforeseen behaviours may occur at any time. While observing the…
In this work, we propose an extension of conventional image data by an additional channel in which the associated projection properties are encoded. This addresses the issue of sensor-dependent object representation in projection-based…
As deep learning continues to dominate all state-of-the-art computer vision tasks, it is increasingly becoming an essential building block for robotic perception. This raises important questions concerning the safety and reliability of…
This paper focuses on learning efficient sensor allocations that ensure observability of unknown high-dimensional linear systems using only a small number of sensors. Existing methods either require an impractically large number of sensors…
The integration of Light Detection and Ranging (LiDAR) and Internet of Things (IoT) technologies offers transformative opportunities for public health informatics in urban safety and pedestrian well-being. This paper proposes a novel…
This paper addresses the problem of planning for a robot with a directional obstacle-detection sensor that must move through a cluttered environment. The planning objective is to remain safe by finding a path for the complete robot,…
Sensor fusion is crucial for a performant and robust Perception system in autonomous vehicles, but sensor staleness, where data from different sensors arrives with varying delays, poses significant challenges. Temporal misalignment between…
We study two sensor assignment problems for multi-target tracking with the goal of improving the observability of the underlying estimator. We consider various measures of the observability matrix as the assignment value function. We first…