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Collisions between cyclists and pedestrians at urban intersections remain a persistent source of injuries, yet few systems attempt real-time warnings to unequipped road users using commodity hardware. We present a prototype collision…
It is estimated that 285 million people globally are visually impaired. A majority of these people live in developing countries and are among the elderly population. One of the most difficult tasks faced by the visually impaired is…
This paper addresses the problem of vision-based pedestrian localization, which estimates a pedestrian's location using images and camera parameters. In practice, however, calibrated camera parameters often deviate from the ground truth,…
Accurate localization is a foundational capacity, required for autonomous vehicles to accomplish other tasks such as navigation or path planning. It is a common practice for vehicles to use GPS to acquire location information. However, the…
Autonomous vehicle perception systems require robust pedestrian detection, particularly on geometrically complex roadways like Type-S curved surfaces, where standard RGB camera-based methods face limitations. This paper introduces YOLO-APD,…
We propose a camera-based assistive text reading framework to help blind persons read text labels and product packaging from hand-held objects in their daily life. To isolate the object from untidy backgrounds or other surrounding objects…
Logging of incoming/outgoing vehicles serves as a piece of critical information for root-cause analysis to combat security breach incidents in various sensitive organizations. RFID tagging hampers the scalability of vehicle tracking…
Robotic platforms are highly programmable, scalable and versatile to complete several tasks including Inspection, Maintenance and Repair (IMR). Mobile robotics offer reduced restrictions in operating environments, resulting in greater…
Ensuring construction site safety requires accurate and real-time detection of workers' safety helmet use, despite challenges posed by cluttered environments, densely populated work areas, and hard-to-detect small or overlapping objects…
Mobile robots in unstructured, mapless environments must rely on an obstacle avoidance module to navigate safely. The standard avoidance techniques estimate the locations of obstacles with respect to the robot but are unaware of the…
While designing sustainable and resilient urban built environment is increasingly promoted around the world, significant data gaps have made research on pressing sustainability issues challenging to carry out. Pavements are known to have…
We present a framework that allows an observer to determine occluded portions of a structure by finding the maximum-likelihood estimate of those occluded portions consistent with visible image evidence and a consistency model. Doing this…
Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice, localization becomes unreliable when the robot observes…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
The detection of hazardous conditions near public transit stations is necessary for ensuring the safety and accessibility of public transit. Smart city infrastructures aim to facilitate this task among many others through the use of…
Automotive manufacturing assembly tasks are built upon visual inspections such as scratch identification on machined surfaces, part identification and selection, etc, which guarantee product and process quality. These tasks can be related…
Buses and heavy vehicles have more blind spots compared to cars and other road vehicles due to their large sizes. Therefore, accidents caused by these heavy vehicles are more fatal and result in severe injuries to other road users. These…
Object detection is a computer vision task that has become an integral part of many consumer applications today such as surveillance and security systems, mobile text recognition, and diagnosing diseases from MRI/CT scans. Object detection…
Environment perception is the task for intelligent vehicles on which all subsequent steps rely. A key part of perception is to safely detect other road users such as vehicles, pedestrians, and cyclists. With modern deep learning techniques…
3D object detection is a common function within the perception system of an autonomous vehicle and outputs a list of 3D bounding boxes around objects of interest. Various 3D object detection methods have relied on fusion of different sensor…