相关论文: Virtual Sensor for Vehicle Sideslip Angle Based on…
Automotive radar sensors play a key role in the current development of autonomous driving. Their ability to detect objects even under adverse conditions makes them indispensable for environment-sensing tasks in autonomous vehicles. The…
The calibration of weather radar for detecting meteorological phenomena has advanced rapidly, aiming to enhance accuracy. Utilizing an unmanned aerial vehicle (UAV) equipped with a suspended metal sphere introduces an efficient calibration…
This paper, for the first time, presents a terrain-based localization approach using sensor data from an active suspension system. The contribution is four-fold. First, it is shown that a location dependent road height profile can be…
Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model,…
We propose a robust method for estimating road curb 3D parameters (size, location, orientation) using a calibrated monocular camera equipped with a fisheye lens. Automatic curb detection and localization is particularly important in the…
We propose a technique for learning single-view 3D object pose estimation models by utilizing a new source of data -- in-the-wild videos where objects turn. Such videos are prevalent in practice (e.g., cars in roundabouts, airplanes near…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
Autonomous driving application is developing towards specific scenes. Park scene has features such as low speed, fixed routes, short connection, less complex traffic, and hence is suitable for bringing autonomous driving technology into…
This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…
Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…
When carrying out robotic manipulation tasks, objects occasionally fall as a result of the rotation caused by slippage. This can be prevented by obtaining tactile information that provides better knowledge on the physical properties of the…
Autonomous vehicles (AV) look set to become common on our roads within the next few years. However, to achieve the final breakthrough, not only functional progress is required, but also satisfactory safety assurance must be provided. Among…
This paper discusses the image processing and computer vision algorithms for real time detection and tracking of a sample wheel of a vehicle. During the manual tyre changing process, spinal and other muscular injuries are common and even…
This paper proposes a novel method to estimate the wheel dynamic load based on the gas pressure of a hydro-pneumatic suspension. A nonlinear coupled model between suspension chamber pressure and tire-ground contact force is developed,…
Intersections constitute one of the most dangerous elements in road systems. Traffic signals remain the most common way to control traffic at high-volume intersections and offer many opportunities to apply intelligent transportation systems…
In the paper, a mathematical model assembling a "driver - mobile vehicle - road environment" system and capable of simulating the process of mobile vehicles skid in traction movement mode is proposed. The usage of non-linear drift models…
Vehicle roll control has been a well studied problem. One of the ubiquitous methods to mitigate vehicle rollover in the automobile industry is via a mechanical anti-roll bar. However with the advent of electric vehicles, rollover mitigation…
This paper introduces a statistical model and corresponding sequential Bayesian estimation method for terrain-based navigation using side-scan sonar (SSS) data. The presented approach relies on slant range measurements extracted from the…
Positioning is a prominent field of study, notably focusing on Visual Inertial Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) methods. Despite their advancements, these methods often encounter dead-reckoning errors that…
In this paper, we introduce a method for estimating blind spots for sensor setups of autonomous or automated vehicles and/or robotics applications. In comparison to previous methods that rely on geometric approximations, our presented…