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The emergence of connected vehicles is driven by increasing customer and regulatory demands. To meet these, more complex software applications, some of which require service-based cloud and edge backends, are developed. When new software is…
Realistic and controllable simulation is critical for advancing end-to-end autonomous driving, yet existing approaches often struggle to support novel view synthesis under large viewpoint changes or to ensure geometric consistency. We…
In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates…
Data is a fundamental building block for LiDAR perception systems. Unfortunately, real-world data collection and annotation is extremely costly & laborious. Recently, real data based LiDAR simulators have shown tremendous potential to…
Simulation is an indispensable tool in the development and testing of autonomous vehicles (AVs), offering an efficient and safe alternative to road testing. An outstanding challenge with simulation-based testing is the generation of…
Joint radar-communication (JRC) waveform can be used for simultaneous radar detection and communication in the same frequency band. However, radar detection processing requires the prior knowledge of the waveform including the embedded…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
Driver assistance systems as well as autonomous cars have to rely on sensors to perceive their environment. A heterogeneous set of sensors is used to perform this task robustly. Among them, radar sensors are indispensable because of their…
4D radar measurements offer an affordable and weather-robust solution for 3D perception. However, the inherent sparsity and noise of radar point clouds present significant challenges for accurate 3D object detection, underscoring the need…
Intelligent reflecting surface (IRS) has garnered growing interest and attention due to its potential for facilitating and supporting wireless communications and sensing. This paper studies a semi-passive IRS-enabled sensing system, where…
Despite significant advancements in environment perception capabilities for autonomous driving and intelligent robotics, cameras and LiDARs remain notoriously unreliable in low-light conditions and adverse weather, which limits their…
Accurate simulation and validation of advanced driver assistance systems requires accurate sensor models. Modeling automotive radar is complicated by effects such as multipath reflections, interference, reflective surfaces, discrete cells,…
We tackle the problem of producing realistic simulations of LiDAR point clouds, the sensor of preference for most self-driving vehicles. We argue that, by leveraging real data, we can simulate the complex world more realistically compared…
Distributed integrated sensing and communication (D-ISAC) enables multiple spatially distributed nodes to cooperatively perform sensing and communication. However, achieving coherent cooperation across distributed nodes is challenging due…
Radar sensors play a crucial role for perception systems in automated driving but suffer from a high level of noise. In the past, this could be solved by strict filters, which remove most false positives at the expense of undetected…
RadaRays allows for the accurate modeling and simulation of rotating FMCW radar sensors in complex environments, including the simulation of reflection, refraction, and scattering of radar waves. Our software is able to handle large numbers…
The challenge of 3D multi-object tracking is achieving robustness in real-world applications, for example under adverse conditions and maintaining consistency as distance increases. To overcome these challenges, sensor fusion approaches…
Semantic Scene Completion (SSC) is pivotal in autonomous driving perception, frequently confronted with the complexities of weather and illumination changes. The long-term strategy involves fusing multi-modal information to bolster the…
"This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible." Driver's interaction with a vehicle via automatic gesture recognition is…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional…