Related papers: Closing Speed Computation using Stereo Camera and …
Stereo vision is essential for many applications. Currently, the synchronization of the streams coming from two cameras is done using mostly hardware. A software-based synchronization method would reduce the cost, weight and size of the…
In this letter, we consider the problem of decentralized decision making among connected autonomous vehicles at unsignalized intersections, where existing centralized approaches do not scale gracefully under mixed maneuver intentions and…
An algorithm is developed to optimize vehicle speed trajectory over multiple signalized intersections with known traffic signal information to minimize fuel consumption and travel time, and to meet ride comfort requirements using sequential…
Recently, multi-sensors fusion has achieved significant progress in the field of automobility to improve navigation and position performance. As the prerequisite of the fusion algorithm, the demand for the extrinsic calibration of…
Real-time Stereo Matching is a cornerstone algorithm for many Extended Reality (XR) applications, such as indoor 3D understanding, video pass-through, and mixed-reality games. Despite significant advancements in deep stereo methods,…
In this technical report we investigate speed estimation of the ego-vehicle on the KITTI benchmark using state-of-the-art deep neural network based optical flow and single-view depth prediction methods. Using a straightforward intuitive…
We introduce a general formulation for an implicit equation-free method in the setting of slow-fast systems. First, we give a rigorous convergence result for equation-free analysis showing that the implicitly defined coarse-level time…
Deploying depth estimation networks in the real world requires high-level robustness against various adverse conditions to ensure safe and reliable autonomy. For this purpose, many autonomous vehicles employ multi-modal sensor systems,…
By leveraging the blur-noise trade-off, imaging with non-uniform exposures largely extends the image acquisition flexibility in harsh environments. However, the limitation of conventional cameras in perceiving intra-frame dynamic…
Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However, most of these methods require enforcing non-penetration…
In Reinforcement Learning (RL), tasks with instantaneous hard constraints present significant challenges, particularly when the decision space is non-convex or non-star-convex. This issue is especially relevant in domains like autonomous…
Scene understanding is paramount in robotics, self-navigation, augmented reality, and many other fields. To fully accomplish this task, an autonomous agent has to infer the 3D structure of the sensed scene (to know where it looks at) and…
Surveillance videos and images are used for a broad set of applications, ranging from traffic analysis to crime detection. Extrinsic camera calibration data is important for most analysis applications. However, security cameras are…
A novel learning Model Predictive Control technique is applied to the autonomous racing problem. The goal of the controller is to minimize the time to complete a lap. The proposed control strategy uses the data from previous laps to improve…
We propose a 3D object detection method for autonomous driving by fully exploiting the sparse and dense, semantic and geometry information in stereo imagery. Our method, called Stereo R-CNN, extends Faster R-CNN for stereo inputs to…
A fault-tolerant negotiation-based intersection crossing protocol is presented. Rigorous analytic proofs are used for demonstrating the correctness and fault-tolerance properties. Experimental results validate the correctness proof via…
Traffic safety analysis at signalized intersections is vital for reducing vehicle and pedestrian collisions, yet traditional crash-based studies are limited by data sparsity and latency. This paper presents a novel multi-camera computer…
Camera-based Semantic Scene Completion (SSC) is gaining attentions in the 3D perception field. However, properties such as perspective and occlusion lead to the underestimation of the geometry in distant regions, posing a critical issue for…
This paper presents a method for extrinsic camera calibration (estimation of camera rotation and translation matrices) from a sequence of images. It is assumed camera intrinsic matrix and distortion coefficients are known and fixed during…
A nonsmooth extension of the speed-gradient algorithms in finite form is proposed. The conditions ensuring control goal (convergence of the goal function to zero) are established. A new algorithm is applied to almost global stabilization of…