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The airborne traffic monitoring system forms a novel technology of detecting vehicle motion. An optical digital camera located on an airborne platform produces a series of images which then are processed to recognized the fixed vehicles. In…
Temporal perception, defined as the capability to detect and track objects across temporal sequences, serves as a fundamental component in autonomous driving systems. While single-vehicle perception systems encounter limitations, stemming…
In this paper we propose an automatic trajectory data reconciliation to correct common errors in vision-based vehicle trajectory data. Given "raw" vehicle detection and tracking information from automatic video processing algorithms, we…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
The detection of small road hazards, such as lost cargo, is a vital capability for self-driving cars. We tackle this challenging and rarely addressed problem with a vision system that leverages appearance, contextual as well as geometric…
Visual detection of micro aerial vehicles (MAVs) has received increasing research attention in recent years due to its importance in many applications. However, the existing approaches based on either appearance or motion features of MAVs…
Autonomous driving is becoming one of the leading industrial research areas. Therefore many automobile companies are coming up with semi to fully autonomous driving solutions. Among these solutions, lane detection is one of the vital…
Navigating dense, lane-less traffic remains one of the most challenging scenarios for autonomous vehicles, especially in emerging regions where road structure and driver behavior are highly unpredictable. This paper presents a hybrid…
Camera-radar fusion offers a robust and cost-effective alternative to LiDAR-based autonomous driving systems by combining complementary sensing capabilities: cameras provide rich semantic cues but unreliable depth, while radar delivers…
Autonomous vehicles require reliable hazard detection. However, primary sensor systems may miss near-field obstacles, resulting in safety risks. Although a dedicated fast-reacting near-field monitoring system can mitigate this, it typically…
The development of connected and automated vehicles is the key to improving urban mobility safety and efficiency. This paper focuses on cooperative vehicle management at a signal-free intersection with consideration of vehicle modeling…
This study addresses the challenge of estimating traffic states for road links. We propose an innovative approach that leverages partial trajectory data captured by camera-equipped probe vehicles traveling in the opposite lane. The…
Automated Valet Parking (AVP) is a crucial component of advanced autonomous driving systems, focusing on the endpoint task within the "human-vehicle interaction" process to tackle the challenges of the "last mile".The perception module of…
Video activity recognition has become increasingly important in robots and embodied AI. Recognizing continuous video activities poses considerable challenges due to the fast expansion of streaming video, which contains multi-scale and…
This work introduces a framework to diagnose the strengths and shortcomings of Autonomous Vehicle (AV) collision avoidance technology with synthetic yet realistic potential collision scenarios adapted from real-world, collision-free data.…
This paper proposes a unified control framework based on Response-Aware Risk-Constrained Control Barrier Function for dynamic safety boundary control of vehicles. Addressing the problem of physical model parameter mismatch, the framework…
The integration of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is increasingly central to the development of intelligent autonomous systems for applications such as search and rescue, environmental monitoring, and…
To maintain high perception performance among connected and autonomous vehicles (CAVs), in this paper, we propose an accuracy-aware and resource-efficient raw-level cooperative sensing and computing scheme among CAVs and road-side…
Displaying near-real-time traffic information is a useful feature of digital navigation maps. However, most commercial providers rely on privacy-compromising measures such as deriving location information from cellphones to estimate…
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…