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An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…
This work presents the development of a lane detection system aimed at assisting the driving of conventional and autonomous vehicles. The system was implemented using traditional computer vision techniques, focusing on robustness and…
Accurate detection of 3D objects is a fundamental problem in computer vision and has an enormous impact on autonomous cars, augmented/virtual reality and many applications in robotics. In this work we present a novel fusion of neural…
Autonomous navigation in unstructured environments requires robots to assess terrain difficulty in real-time and plan paths that balance efficiency with safety. This thesis presents a traversability-aware navigation framework for the M4…
LIDAR sensors are usually used to provide autonomous vehicles with 3D representations of their environment. In ideal conditions, geometrical models could detect the road in LIDAR scans, at the cost of a manual tuning of numerical…
Most autonomous cars rely on the availability of high-definition (HD) maps. Current research aims to address this constraint by directly predicting HD map elements from onboard sensors and reasoning about the relationships between the…
Millions of vehicles are transported every year, tightly parked in vessels or boats. To reduce the risks of associated safety issues like fires, knowing the location of vehicles is essential, since different vehicles may need different…
Future wireless network technology provides automobiles with the connectivity feature to consolidate the concept of vehicular networks that collaborate on conducting cooperative driving tasks. The full potential of connected vehicles, which…
There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…
This work introduces a new approach for joint detection of centerlines based on image data by localizing the features jointly in 2D and 3D. In contrast to existing work that focuses on detection of visual cues, we explore feature extraction…
Compared to abstract features, significant objects, so-called landmarks, are a more natural means for vehicle localization and navigation, especially in challenging unstructured environments. The major challenge is to recognize landmarks in…
Robust road surface estimation is required for autonomous ground vehicles to navigate safely. Despite it becoming one of the main targets for autonomous mobility researchers in recent years, it is still an open problem in which cameras and…
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…
LiDAR-based localization serves as a critical component in autonomous systems, yet existing approaches face persistent challenges in balancing repeatability, accuracy, and environmental adaptability. Traditional point cloud registration…
The increasing adoption of electric scooters (e-scooters) in urban areas has coincided with a rise in traffic accidents and injuries, largely due to their small wheels, lack of suspension, and sensitivity to uneven surfaces. While deep…
Low-latency intelligent systems are required for autonomous driving on non-uniform terrain in open-pit mines and developing countries. This work proposes a perception system for autonomous vehicles on unpaved roads and off-road…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Computer Vision has played a major role in Intelligent Transportation Systems (ITS) and traffic surveillance. Along with the rapidly growing automated vehicles and crowded cities, the automated and advanced traffic management systems (ATMS)…
Road accidents are quite common in almost every part of the world, and, in majority, fatal accidents are attributed to over speeding of vehicles. The tendency to over speeding is usually tried to be controlled using check points at various…
Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…