相关论文: Joint Mapping and Calibration via Differentiable S…

With the increasing computational demands of deep neural network (DNN) inference on resource-constrained devices, DNN partitioning-based device-edge collaborative inference has emerged as a promising paradigm. However, the transmission of…

A key obstacle in automated analytics and meta-learning is the inability to recognize when different datasets contain measurements of the same variable. Because provided attribute labels are often uninformative in practice, this task may be…

With a growing number of robots being deployed across diverse applications, robust multimodal anomaly detection becomes increasingly important. In robotic manipulation, failures typically arise from (1) robot-driven anomalies due to an…

Advances in autonomous driving are inseparable from sensor fusion. Heterogeneous sensors are widely used for sensor fusion due to their complementary properties, with radar and camera being the most equipped sensors. Intrinsic and extrinsic…

Safe navigation in new environments requires autonomous vehicles and robots to accurately interpret their surroundings, relying on LiDAR scene segmentation, out-of-distribution (OOD) obstacle detection, and uncertainty computation. We…

We propose a deep neural network fusion architecture for fast and robust pedestrian detection. The proposed network fusion architecture allows for parallel processing of multiple networks for speed. A single shot deep convolutional network…

Anomaly detection in road networks is vital for traffic management and emergency response. However, existing approaches do not directly address multiple anomaly types. We propose a tensor-based spatio-temporal model for detecting multiple…

Automatic Traffic Sign Recognition is paramount in modern transportation systems, motivating several research endeavors to focus on performance improvement by utilizing large-scale datasets. As the appearance of traffic signs varies across…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

Object detection through either RGB images or the LiDAR point clouds has been extensively explored in autonomous driving. However, it remains challenging to make these two data sources complementary and beneficial to each other. In this…

Recognizing Traffic Signs using intelligent systems can drastically reduce the number of accidents happening world-wide. With the arrival of Self-driving cars it has become a staple challenge to solve the automatic recognition of Traffic…

Recent advancements in weakly-supervised video anomaly detection have achieved remarkable performance by applying the multiple instance learning paradigm based on multimodal foundation models such as CLIP to highlight anomalous instances…

The deep integration of communication with intelligence and sensing, as a defining vision of 6G, renders environment-aware channel prediction a key enabling technology. As a representative 6G application, vehicular communications require…

We introduce a conditional generative model for learning to disentangle the hidden factors of variation within a set of labeled observations, and separate them into complementary codes. One code summarizes the specified factors of variation…

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…

This paper presents a framework for the targetless extrinsic calibration of stereo cameras and Light Detection and Ranging (LiDAR) sensors with a non-overlapping Field of View (FOV). In order to solve the extrinsic calibrations problem…

Distributed radar sensors enable robust human activity recognition. However, scaling the number of coordinated nodes introduces challenges in feature extraction from large datasets, and transparent data fusion. We propose an end-to-end…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

The uncertainty quantification of sensor measurements coupled with deep learning networks is crucial for many robotics systems, especially for safety-critical applications such as self-driving cars. This paper develops an uncertainty…