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We propose a fast and robust method to estimate the ground surface from LIDAR measurements on an automated vehicle. The ground surface is modeled as a UBS which is robust towards varying measurement densities and with a single parameter…
A new obstacle detection algorithm for unmanned surface vehicles (USVs) is presented. A state-of-the-art graphical model for semantic segmentation is extended to incorporate boat pitch and roll measurements from the on-board inertial…
Urban Traffic Surveillance (UTS) is a surveillance system based on a monocular and calibrated video camera that detects vehicles in an urban traffic scenario with dense traffic on multiple lanes and vehicles performing sharp turning…
3D Gaussian Splatting (3DGS) has shown great potential in autonomous driving simulation and data generation, enabling photorealistic reconstruction and flexible scene manipulation. However, existing 3DGS scene editing methods have limited…
In this article, a simplified modeling and system identification procedure for yaw motion of an unmanned surface vehicle (USV) is presented. Two thrusters that allow for both speed and direction control propel the USV. The outputs of the…
This work introduces a novel analytical model for estimating the airspeed of fixed-wing Unmanned Aerial Vehicles (UAVs) using solely propeller power and rotational speed measurements. The model can be used to replace Pitot-tube-based…
Road accident can be triggered by wet road because it decreases skid resistance. To prevent the road accident, detecting road surface abnomality is highly useful. In this paper, we propose the deep learning based cost-effective real-time…
This paper presents methods for vehicle state estimation and prediction for autonomous driving. A roundabout is chosen to apply the methods and illustrate the results as autonomous vehicles have difficulty in handling roundabouts. State…
Recursive Bayesian filters have been widely deployed in structural system identification where output-only filters are of higher practicality. Unfortunately, the estimation obtained by instantaneous system inversion via filters can be…
We propose an automated method to estimate a road segment's free-flow speed from overhead imagery and road metadata. The free-flow speed of a road segment is the average observed vehicle speed in ideal conditions, without congestion or…
We consider the problem of localizing a manned, semi-autonomous, or autonomous vehicle in the environment using information coming from the vehicle's sensors, a problem known as navigation or simultaneous localization and mapping (SLAM)…
We consider the problem of estimating the roughness of the volatility process in a stochastic volatility model that arises as a nonlinear function of fractional Brownian motion with drift. To this end, we introduce a new estimator that…
This work aims to present a three-dimensional vehicle dynamics state estimation under varying signal quality. Few researchers have investigated the impact of three-dimensional road geometries on the state estimation and, thus, neglect road…
We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be…
Vision is one of the primary sensing modalities in autonomous driving. In this paper we look at the problem of estimating the velocity of road vehicles from a camera mounted on a moving car. Contrary to prior methods that train end-to-end…
Detecting anomalies in traffic scenes is crucial for ensuring safety in autonomous driving, yet collecting representative anomalous data remains challenging. Existing anomaly detection methods are highly specialized and rely on normality as…
This paper explores the feasibility of utilizing the response recorded by a single moving sensor to identify the modal parameters of a bridge system under different loading conditions, such as known excitation and unknown random…
In-time and accurate assessments of on-road vehicle emissions play a central role in urban air quality and health policymaking. However, official insight is hampered by the Inspection/Maintenance (I/M) procedure conducted in the laboratory…
Recent advancements in anomaly detection have shifted focus towards Multi-class Unified Anomaly Detection (MUAD), offering more scalable and practical alternatives compared to traditional one-class-one-model approaches. However, existing…
In this paper, we propose a functional analysis of a set of individual space-speed profiles corresponding to speed as function of the distance traveled by the vehicle from an initial point. This functional analysis begins with a functional…