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Vehicle-to-vehicle (V2V) communication is a key component of the future autonomous driving systems. V2V can provide an improved awareness of the surrounding environment, and the knowledge about the future actions of nearby vehicles.…
Vehicle-to-everything (V2X) communications is a concept that has been around for the past decade. It involves communication between vehicles and other types of infrastructure. This application is exceptionally useful for emergency services…
Perception of the driving environment is critical for collision avoidance and route planning to ensure driving safety. Cooperative perception has been widely studied as an effective approach to addressing the shortcomings of single-vehicle…
Accurate camera-to-lidar calibration is a requirement for sensor data fusion in many 3D perception tasks. In this paper, we present SceneCalib, a novel method for simultaneous self-calibration of extrinsic and intrinsic parameters in a…
Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively affects their potential applications in localization and…
A key challenge for autonomous driving lies in maintaining real-time situational awareness regarding surrounding obstacles under strict latency constraints. The high processing requirements coupled with limited onboard computational…
In this paper, we explore the use of vehicle-to-vehicle (V2V) communication to improve the perception and motion forecasting performance of self-driving vehicles. By intelligently aggregating the information received from multiple nearby…
Cooperative perception enables vehicles to share sensor readings and has become a new paradigm to improve driving safety, where the key enabling technology for realizing this vision is to real-time and accurately align and fuse the…
Multimodal sensor fusion enables robust environmental perception by leveraging complementary information from heterogeneous sensing modalities. However, accurate calibration is a critical prerequisite for effective fusion. This paper…
Collaborative perception enables agents to share complementary perceptual information with nearby agents. This would improve the perception performance and alleviate the issues of single-view perception, such as occlusion and sparsity. Most…
Chemical multisensor devices need calibration algorithms to estimate gas concentrations. Their possible adoption as indicative air quality measurements devices poses new challenges due to the need to operate in continuous monitoring modes…
Recent advances in autonomous vehicle technologies and cellular network speeds motivate developments in vehicle-to-everything (V2X) communications. Enhanced road safety features and improved fuel efficiency are some of the motivations…
Vehicle-to-Everything (V2X) will create many new opportunities in the area of wireless communications, while its feasibility on enabling vehicular positioning has not been explored yet. Vehicular positioning is a crucial operation for…
Connectivity is a main driver for the ongoing megatrend of automated mobility: future Cooperative Intelligent Transport Systems (C-ITS) will connect road vehicles, traffic signals, roadside infrastructure, and even vulnerable road users,…
This paper presents a comprehensive end-to-end evaluation of an infrastructure-assisted collective perception (ICP) system deployed on a highway using ITS-G5 technology. Open-road tests were conducted in the Bizkaia Connected Corridor…
Accurately perceiving complex driving environments is essential for ensuring the safe operation of autonomous vehicles. With the tremendous progress in deep learning and communication technologies, cooperative perception with…
Perception systems of autonomous vehicles are susceptible to occlusion, especially when examined from a vehicle-centric perspective. Such occlusion can lead to overlooked object detections, e.g., larger vehicles such as trucks or buses may…
Modern autonomous vehicle perception systems often struggle with occlusions and limited perception range. Previous studies have demonstrated the effectiveness of cooperative perception in extending the perception range and overcoming…
In the domain of intelligent transportation systems (ITS), collaborative perception has emerged as a promising approach to overcome the limitations of individual perception by enabling multiple agents to exchange information, thus enhancing…
Vehicle-to-infrastructure collaborative perception (V2I-CP) leverages a high-vantage node to transmit supplementary information, i.e., bird's-eye-view (BEV) feature maps, to vehicles, effectively overcoming line-of-sight limitations.…