相关论文: Vision-Based High Speed Driving with a Deep Dynami…

Compared to other applications in computer vision, convolutional neural networks have under-performed on pedestrian detection. A breakthrough was made very recently by using sophisticated deep CNN models, with a number of hand-crafted…

One of the greatest challenges for detecting moving objects in the solar system from wide-field survey data is determining whether a signal indicates a true object or is due to some other source, like noise. Object verification has relied…

We tackle the problem of estimating optical flow from a monocular camera in the context of autonomous driving. We build on the observation that the scene is typically composed of a static background, as well as a relatively small number of…

This work develops a robust nonlinear Model Predictive Control (MPC) framework for path tracking in autonomous vehicles operating at the limits of handling utilizing a Control Contraction Metric (CCM) derived from a perturbed dynamic single…

We introduce a cutting-edge video compression framework tailored for the age of ubiquitous video data, uniquely designed to serve machine learning applications. Unlike traditional compression methods that prioritize human visual perception,…

Autonomous vehicles have limited computational resources and thus require efficient control systems. The cost and size of sensors have limited the development of self-driving cars. To overcome these restrictions, this study proposes an…

Depth estimation provides an alternative approach for perceiving 3D information in autonomous driving. Monocular depth estimation, whether with single-frame or multi-frame inputs, has achieved significant success by learning various types…

Vision-based deep learning (DL) methods have made great progress in learning autonomous driving models from large-scale crowd-sourced video datasets. They are trained to predict instantaneous driving behaviors from video data captured by…

This paper presents a novel method for pedestrian detection and tracking by fusing camera and LiDAR sensor data. To deal with the challenges associated with the autonomous driving scenarios, an integrated tracking and detection framework is…

This paper introduces a Nonlinear Model Predictive Control (N-MPC) framework exploiting a Deep Neural Network for processing onboard-captured depth images for collision avoidance in trajectory-tracking tasks with UAVs. The network is…

We present a novel monocular localization framework by jointly training deep learning-based depth prediction and Bayesian filtering-based pose reasoning. The proposed cross-modal framework significantly outperforms deep learning-only…

Successful video analysis relies on accurate recognition of pixels across frames, and frame reconstruction methods based on video correspondence learning are popular due to their efficiency. Existing frame reconstruction methods, while…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

This paper introduces the Deep Learning-based Nonlinear Model Predictive Controller with Scene Dynamics (DL-NMPC-SD) method for autonomous navigation. DL-NMPC-SD uses an a-priori nominal vehicle model in combination with a scene dynamics…

Most existing Multi-Object Tracking (MOT) approaches follow the Tracking-by-Detection paradigm and the data association framework where objects are firstly detected and then associated. Although deep-learning based method can noticeably…

Depth is a vital piece of information for autonomous vehicles to perceive obstacles. Due to the relatively low price and small size of monocular cameras, depth estimation from a single RGB image has attracted great interest in the research…

Vision-based target tracking is crucial for unmanned surface vehicles (USVs) to perform tasks such as inspection, monitoring, and surveillance. However, real-time tracking in complex maritime environments is challenging due to dynamic…

In this paper, we study a discriminatively trained deep convolutional network for the task of visual tracking. Our tracker utilizes both motion and appearance features that are extracted from a pre-trained dual stream deep convolution…

Car-following behavior has been extensively studied using physics-based models, such as the Intelligent Driver Model. These models successfully interpret traffic phenomena observed in the real-world but may not fully capture the complex…

This paper presents a real-time lane change control framework of autonomous driving in dense traffic, which exploits cooperative behaviors of other drivers. This paper focuses on heavy traffic where vehicles cannot change lanes without…