相关论文: Redundant Perception and State Estimation for Reli…

While automated driving is often advertised with better-than-human driving performance, this work reviews that it is nearly impossible to provide direct statistical evidence on the system level that this is actually the case. The amount of…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

Velocity estimation plays a central role in driverless vehicles, but standard and affordable methods struggle to cope with extreme scenarios like aggressive maneuvers due to the presence of high sideslip. To solve this, autonomous race cars…

This paper introduces fl\"uela driverless: the first autonomous racecar to win a Formula Student Driverless competition. In this competition, among other challenges, an autonomous racecar is tasked to complete 10 laps of a previously…

Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and…

This paper introduces an approach that enhances the state estimator for high-speed autonomous race cars, addressing challenges from unreliable measurements, localization failures, and computing resource management. The proposed robust…

Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…

The recent surge in interest in autonomous driving stems from its rapidly developing capacity to enhance safety, efficiency, and convenience. A pivotal aspect of autonomous driving technology is its perceptual systems, where core algorithms…

Autonomous systems operating in unknown environments often rely heavily on visual sensor data, yet making safe and informed control decisions based on these measurements remains a significant challenge. To facilitate the integration of…

Autonomous race cars require perception, estimation, planning, and control modules which work together asynchronously while driving at the limit of a vehicle's handling capability. A fundamental challenge encountered in designing these…

The vehicle's perception sensors radar, lidar and camera, which must work continuously and without restriction, especially with regard to automated/autonomous driving, can lose performance due to unfavourable weather conditions. This paper…

Autonomous racing provides the opportunity to test safety-critical perception pipelines at their limit. This paper describes the practical challenges and solutions to applying state-of-the-art computer vision algorithms to build a…

This paper investigates runtime monitoring of perception systems. Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception…

One of the fundamental challenges in the design of perception systems for autonomous vehicles is validating the performance of each algorithm under a comprehensive variety of operating conditions. In the case of vision-based semantic…

The viability of automated driving is heavily dependent on the performance of perception systems to provide real-time accurate and reliable information for robust decision-making and maneuvers. These systems must perform reliably not only…

This paper presents the design and development of an intelligent subsystem that includes a novel low-power radar sensor integrated into an autonomous racing perception pipeline to robustly estimate the position and velocity of dynamic…

Sensing and Perception (S&P) is a crucial component of an autonomous system (such as a robot), especially when deployed in highly dynamic environments where it is required to react to unexpected situations. This is particularly true in case…

Autonomous racing provides a controlled environment for testing the software and hardware of autonomous vehicles operating at their performance limits. Competitive interactions between multiple autonomous racecars however introduce…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

Autonomous vehicles (AVs) rely on environment perception and behavior prediction to reason about agents in their surroundings. These perception systems must be robust to adverse weather such as rain, fog, and snow. However, validation of…