Related papers: Deep Bayesian Future Fusion for Self-Supervised, H…
In autonomous driving, perception systems are piv otal as they interpret sensory data to understand the envi ronment, which is essential for decision-making and planning. Ensuring the safety of these perception systems is fundamental for…
4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research finish the 3D object detection task by…
This paper focuses on online occupancy mapping and real-time collision checking onboard an autonomous robot navigating in a large unknown environment. Commonly used voxel and octree map representations can be easily maintained in a small…
LiDAR sensors are often considered essential for autonomous driving, but high-resolution sensors remain expensive while affordable low-resolution sensors produce sparse point clouds that miss critical details. LiDAR super-resolution…
The detection of small road hazards, such as lost cargo, is a vital capability for self-driving cars. We tackle this challenging and rarely addressed problem with a vision system that leverages appearance, contextual as well as geometric…
High-definition maps (HD maps) play a crucial role in the development, safety validation, and operation of highly automated vehicles. Efficiently collecting up-to-date sensor data from road segments and obtaining accurate maps from these…
A system for live high quality surface reconstruction using a single moving depth camera on a commodity hardware is presented. High accuracy and real-time frame rate is achieved by utilizing graphics hardware computing capabilities via…
This paper presents a method for Bayesian multi-robot peer-to-peer data fusion where any pair of autonomous robots hold non-identical, but overlapping parts of a global joint probability distribution, representing real world inference tasks…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
We propose an end-to-end real time framework to generate high resolution graphics grade textured 3D map of urban environment. The generated detailed map finds its application in the precise localization and navigation of autonomous…
In this work, a deep learning approach has been developed to carry out road detection by fusing LIDAR point clouds and camera images. An unstructured and sparse point cloud is first projected onto the camera image plane and then upsampled…
Globally consistent dense maps are a key requirement for long-term robot navigation in complex environments. While previous works have addressed the challenges of dense mapping and global consistency, most require more computational…
Autonomous vehicles were experiencing rapid development in the past few years. However, achieving full autonomy is not a trivial task, due to the nature of the complex and dynamic driving environment. Therefore, autonomous vehicles are…
Multi-sensor fusion is widely used in the environment perception system of the autonomous vehicle. It solves the interference caused by environmental changes and makes the whole driving system safer and more reliable. In this paper, a novel…
Remote sensing image fusion technology (pan-sharpening) is an important means to improve the information capacity of remote sensing images. Inspired by the efficient arameter space posteriori sampling of Bayesian neural networks, in this…
High-definition (HD) map construction methods are crucial for providing precise and comprehensive static environmental information, which is essential for autonomous driving systems. While Camera-LiDAR fusion techniques have shown promising…
Flood prediction is critical for emergency planning and response to mitigate human and economic losses. Traditional physics-based hydrodynamic models generate high-resolution flood maps using numerical methods requiring fine-grid…
Ultrasonic imaging is being used to obtain information about the acoustic properties of a medium by emitting waves into it and recording their interaction using ultrasonic transducer arrays. The Delay-And-Sum (DAS) algorithm forms images…
Autonomous driving needs various line-of-sight sensors to perceive surroundings that could be impaired under diverse environment uncertainties such as visual occlusion and extreme weather. To improve driving safety, we explore to wirelessly…
The workload of real-time rendering is steeply increasing as the demand for high resolution, high refresh rates, and high realism rises, overwhelming most graphics cards. To mitigate this problem, one of the most popular solutions is to…