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Reliable prediction of surround vehicle motion is a critical requirement for path planning for autonomous vehicles. In this paper we propose a unified framework for surround vehicle maneuver classification and motion prediction that…
This paper presents a new approach to detecting road boundaries based on sparse radar signals. We model the roadway using a homogeneous model and derive its conditional predictive model under known radar motion. Using the conditional…
Road network and trajectory representation learning are essential for traffic systems since the learned representation can be directly used in various downstream tasks (e.g., traffic speed inference, and travel time estimation). However,…
Roadside unit (RSU) can significantly improve the safety and robustness of autonomous vehicles through Vehicle-to-Everything (V2X) communication. Currently, the usage of a single RSU mainly focuses on real-time inference and V2X…
Pavement surface textures obtained by a photogrammetry-based method for data acquisition and analysis are employed to investigate if related roughness descriptors are comparable to the frictional performance evaluated by finite element…
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,…
The use of infrastructure sensor technology for traffic detection has already been proven several times. However, extrinsic sensor calibration is still a challenge for the operator. While previous approaches are unable to calibrate the…
A wide variety of sensor technologies are recently being adopted for traffic monitoring applications. Since most of these technologies rely on wired infrastructure, the installation and maintenance costs limit the deployment of the traffic…
Accurately modeling friction in robotics remains a core challenge, as robotics simulators like MuJoCo and PyBullet use simplified friction models or heuristics to balance computational efficiency with accuracy, where these simplifications…
Vehicle route prediction is one of the significant tasks in vehicles mobility. It is one of the means to reduce the accidents and increase comfort in human life. The task of route prediction becomes simpler with the development of certain…
Characterizing the risk of operations is a fundamental requirement in robotics, and a crucial ingredient of safe planning. The problem is multifaceted, with multiple definitions arising in the vast recent literature fitting different…
Road extraction in remote sensing images is of great importance for a wide range of applications. Because of the complex background, and high density, most of the existing methods fail to accurately extract a road network that appears…
Perception of other road users is a crucial task for intelligent vehicles. Perception systems can use on-board sensors only or be in cooperation with other vehicles or with roadside units. In any case, the performance of perception systems…
This paper proposes an online friction coefficient identification framework for legged robots on slippery terrain. The approach formulates the optimization problem to minimize the sum of residuals between actual and predicted states…
The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…
Avoiding collisions with vulnerable road users (VRUs) using sensor-based early recognition of critical situations is one of the manifold opportunities provided by the current development in the field of intelligent vehicles. As especially…
We revisit the computation of a probability of collision in the context of automotive collision avoidance (also referred to as conflict detection in other contexts). After reviewing existing approaches to the definition and computation of a…
The classification of the type of road surface (RSC) aims to utilize pavement features to identify the roughness, wet and dry conditions, and material information of the road surface. Due to its ability to effectively enhance road safety…
The measure of the friction factor in the location of the event is very important to get accurate inputs to model the accident, as the friction factor depends on environmental conditions and the dynamics of the event. In some low-middle…
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…