相关论文: Enhancing Mobile Object Classification Using Geo-r…

The growing urban complexity demands an efficient algorithm to acquire and process various sensor information from autonomous vehicles. In this paper, we introduce an algorithm to utilize object detection results from the image to…

The goal of this paper is to detect objects by exploiting their interrelationships. Contrary to existing methods, which learn objects and relations separately, our key idea is to learn the object-relation distribution jointly. We first…

Occupancy mapping has been a key enabler of mobile robotics. Originally based on a discrete grid representation, occupancy mapping has evolved towards continuous representations that can predict the occupancy status at any location and…

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…

Mapping informal settlements is crucial for addressing challenges related to urban planning, public health, and infrastructure in rapidly growing cities. Geospatial machine learning has emerged as a key tool for detecting and mapping these…

This paper describes a method to detect generic dynamic objects for automated driving. First, a LiDAR-based dynamic grid is generated online. Second, a deep learning-based detector is trained on the dynamic grid to infer the presence of…

In this paper, we develop a systematic framework for the time-sequential compression of dynamic probabilistic occupancy grids. Our approach leverages ideas from signal compression theory to formulate an optimization problem that searches…

We describe a system to detect objects in three-dimensional space using video and inertial sensors (accelerometer and gyrometer), ubiquitous in modern mobile platforms from phones to drones. Inertials afford the ability to impose…

We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting 3D occupancy maps given partial observations. Our proposed…

Identifying independently moving objects is an essential task for dynamic scene understanding. However, traditional cameras used in dynamic scenes may suffer from motion blur or exposure artifacts due to their sampling principle. By…

Conflicting sensor measurements pose a huge problem for the environment representation of an autonomous robot. Therefore, in this paper, we address the self-assessment of an evidential grid map in which data from conflicting LiDAR sensor…

In this paper, we aim to forecast a future trajectory distribution of a moving agent in the real world, given the social scene images and historical trajectories. Yet, it is a challenging task because the ground-truth distribution is…

The counting task, which plays a fundamental role in numerous applications (e.g., crowd counting, traffic statistics), aims to predict the number of objects with various densities. Existing object counting tasks are designed for a single…

Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…

We introduce and we analyze a new dataset which resembles the input to biological vision systems much more than most previously published ones. Our analysis leaded to several important conclusions. First, it is possible to disambiguate over…

Environment prediction frameworks are integral for autonomous vehicles, enabling safe navigation in dynamic environments. LiDAR generated occupancy grid maps (L-OGMs) offer a robust bird's eye-view scene representation that facilitates…

To perform high speed tasks, sensors of autonomous cars have to provide as much information in as few time steps as possible. However, radars, one of the sensor modalities autonomous cars heavily rely on, often only provide sparse, noisy…

Representing the 3D environment with instance-aware semantic and geometric information is crucial for interaction-aware robots in dynamic environments. Nevertheless, creating such a representation poses challenges due to sensor noise,…

We tackle the long-term prediction of scene evolution in a complex downtown scenario for automated driving based on Lidar grid fusion and recurrent neural networks (RNNs). A bird's eye view of the scene, including occupancy and velocity, is…

Grid mapping is a well established approach for environment perception in robotic and automotive applications. Early work suggests estimating the occupancy state of each grid cell in a robot's environment using a Bayesian filter to…