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Autonomous mobility systems increasingly operate in dense and dynamic environments where perception occlusions, limited sensing coverage, and multi-agent interactions pose major challenges. While onboard sensors provide essential local…

Due to the high complexity and occlusion, insufficient perception in the crowded urban intersection can be a serious safety risk for both human drivers and autonomous algorithms, whereas CVIS (Cooperative Vehicle Infrastructure System) is a…

Autonomous driving datasets are essential for validating the progress of intelligent vehicle algorithms, which include localization, perception, and prediction. However, existing datasets are predominantly focused on structured urban…

Achieving level-5 driving automation in autonomous vehicles necessitates a robust semantic visual perception system capable of parsing data from different sensors across diverse conditions. However, existing semantic perception datasets…

Long-duration, off-road, autonomous missions require robots to continuously perceive their surroundings regardless of the ambient lighting conditions. Most existing autonomy systems heavily rely on active sensing, e.g., LiDAR, RADAR, and…

Modern autonomous vehicle perception systems are often constrained by occlusions, blind spots, and limited sensing range. While existing cooperative perception paradigms, such as Vehicle-to-Vehicle (V2V) and Vehicle-to-Infrastructure (V2I),…

The growing demand for robust scene understanding in mobile robotics and autonomous driving has highlighted the importance of integrating multiple sensing modalities. By combining data from diverse sensors like cameras and LIDARs, fusion…

The research community has increasing interest in autonomous driving research, despite the resource intensity of obtaining representative real world data. Existing self-driving datasets are limited in the scale and variation of the…

By sharing information across multiple agents, collaborative perception helps autonomous vehicles mitigate occlusions and improve overall perception accuracy. While most previous work focus on vehicle-to-vehicle and…

This paper presents a Light Detection and Ranging (LiDAR) data set that targets complex urban environments. Urban environments with high-rise buildings and congested traffic pose a significant challenge for many robotics applications. The…

In the past decade, although single-robot perception has made significant advancements, the exploration of multi-robot collaborative perception remains largely unexplored. This involves fusing compressed, intermittent, limited,…

Reliable embodied perception from an egocentric perspective is challenging yet essential for autonomous navigation technology of intelligent mobile agents. With the growing demand of social robotics, near-field scene understanding becomes…

Human perception of the world is shaped by a multitude of viewpoints and modalities. While many existing datasets focus on scene understanding from a certain perspective (e.g. egocentric or third-person views), our dataset offers a panoptic…

Road boundaries, or curbs, provide autonomous vehicles with essential information when interpreting road scenes and generating behaviour plans. Although curbs convey important information, they are difficult to detect in complex urban…

Cooperative perception through vehicle-to-everything (V2X) has garnered significant attention in recent years due to its potential to overcome occlusions and enhance long-distance perception. Great achievements have been made in both…

Inner-city intersections are among the most critical traffic areas for injury and fatal accidents. Automated vehicles struggle with the complex and hectic everyday life within those areas. Sensor-equipped smart infrastructures, which can…

Reliable knowledge of road boundaries is critical for autonomous vehicle navigation. We propose a robust curb detection and filtering technique based on the fusion of camera semantics and dense lidar point clouds. The lidar point clouds are…

Modern perception systems of autonomous vehicles are known to be sensitive to occlusions and lack the capability of long perceiving range. It has been one of the key bottlenecks that prevents Level 5 autonomy. Recent research has…

This paper presents a novel multimodal perception system for a real open environment. The proposed system includes an embedded computation platform, cameras, ultrasonic sensors, GPS, and IMU devices. Unlike the traditional frameworks, our…

Autonomous driving must operate across diverse surfaces to enable safe mobility. However, most driving datasets are captured on well-paved flat roads. Moreover, recent driving datasets primarily provide sparse LiDAR ground truth for images,…