相关论文: Multi-Lane Perception Using Feature Fusion Based o…

Road detection is a critically important task for self-driving cars. By employing LiDAR data, recent works have significantly improved the accuracy of road detection. Relying on LiDAR sensors limits the wide application of those methods…

We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few…

In highway scenarios, an alert human driver will typically anticipate early cut-in and cut-out maneuvers of surrounding vehicles using only visual cues. An automated system must anticipate these situations at an early stage too, to increase…

Advanced driver assistance and automated driving systems should be capable of predicting and avoiding dangerous situations. This study proposes a method to predict potentially dangerous cut-in maneuvers happening in the ego lane. We follow…

Multi-view cooperative perception and multimodal fusion are essential for reliable 3D spatiotemporal understanding in autonomous driving, especially under occlusions, limited viewpoints, and communication delays in V2X scenarios. This paper…

We introduce Ground-Fusion, a low-cost sensor fusion simultaneous localization and mapping (SLAM) system for ground vehicles. Our system features efficient initialization, effective sensor anomaly detection and handling, real-time dense…

Road detection based on remote sensing images is of great significance to intelligent traffic management. The performances of the mainstream road detection methods are mainly determined by their extracted features, whose richness and…

LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…

Recent work done on lane detection has been able to detect lanes accurately in complex scenarios, yet many fail to deliver real-time performance specifically with limited computational resources. In this work, we propose SwiftLane: a simple…

The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of…

Microscopic traffic flow models can be distinguished in lane-based or lane-free depending on the degree of lane-discipline. This distinction holds true only if motorcycles are neglected in lane-based traffic. In cities, as opposed to…

Multi-sensor fusion is essential for autonomous vehicle localization, as it is capable of integrating data from various sources for enhanced accuracy and reliability. The accuracy of the integrated location and orientation depends on the…

In this paper, we present an efficient visual SLAM system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and…

Vision-based road detection is an essential functionality for supporting advanced driver assistance systems (ADAS) such as road following and vehicle and pedestrian detection. The major challenges of road detection are dealing with shadows…

Dynamic scene understanding is the ability of a computer system to interpret and make sense of the visual information present in a video of a real-world scene. In this thesis, we present a series of frameworks for dynamic scene…

Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…

In this paper, we address the problem of road segmentation and free space detection in the context of autonomous driving. Traditional methods either use 3-dimensional (3D) cues such as point clouds obtained from LIDAR, RADAR or stereo…

With the wide penetration of smart robots in multifarious fields, Simultaneous Localization and Mapping (SLAM) technique in robotics has attracted growing attention in the community. Yet collaborating SLAM over multiple robots still remains…

Simultaneous localization and mapping (SLAM) is a critical technology that enables autonomous robots to be aware of their surrounding environment. With the development of deep learning, SLAM systems can achieve a higher level of perception…

The resolution of GPS measurements, especially in urban areas, is insufficient for identifying a vehicle's lane. In this work, we develop a deep LSTM neural network model LaNet that determines the lane vehicles are on by periodically…