相关论文: Generating Compact Geometric Track-Maps for Train …
High-definition (HD) maps are important for autonomous driving, but their manual generation and maintenance is very expensive. This motivates the usage of an automated map generation pipeline. Fleet vehicles provide sufficient sensors for…
The availability of the Global Positioning System (GPS) trajectory data is increasing along with the availability of different GPS receivers and with the increasing use of various mobility services. GPS trajectory is an important data…
Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…
Continuous approximation (CA) models have been widely adopted in transit network design studies due to their strong analytical tractability and high computational efficiency. However, such models are typically formulated as nonconvex…
Texture mapping is a common technology in the area of computer graphics, it maps the 3D surface space onto the 2D texture space. However, the loose texture space will reduce the efficiency of data storage and GPU memory addressing in the…
We introduce a new pattern recognition algorithm for track finding in High Energy Physics Experiments based on an extension of the Hough Transform to multiple dimensions. A remarkable property of this algorithm is that the execution time is…
In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse…
This draft summarizes some basics about geometric computer vision needed to implement efficient computer vision algorithms for applications that use measurements from at least one digital camera mounted on a moving platform with a special…
In this paper, we study the problem of map matching with travel time constraints. Given a sequence of $k$ spatio-temporal measurements and an embedded path graph with travel time costs, the goal is to snap each measurement to a close-by…
Shape matching has been a long-studied problem for the computer graphics and vision community. The objective is to predict a dense correspondence between meshes that have a certain degree of deformation. Existing methods either consider the…
This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…
Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…
We present a novel algorithm to match GPS trajectories onto maps offline (in batch mode) using techniques borrowed from the field of force-directed graph drawing. We consider a simulated physical system where each GPS trajectory is…
We present LOOM (Line-Ordering Optimized Maps), a fully automatic generator of geographically accurate transit maps. The input to LOOM is data about the lines of a given transit network, namely for each line, the sequence of stations it…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
While the increased automation levels of production and operation equipment have led to improved productivity of mining activity in open pit mines, the capacity of mine transport system become a bottleneck. The optimization of mine…
In this paper, we propose a novel trajectory learning method that exploits motion trajectories on topological map using recurrent neural network for temporally consistent geolocalization of object. Inspired by human's ability to both be…
Track geometry monitoring is essential for maintaining the safety and efficiency of railway operations. While Track Recording Cars (TRCs) provide accurate measurements of track geometry indicators, their limited availability and high…
Globally rising demand for transportation by rail is pushing existing infrastructure to its capacity limits, necessitating the development of accurate, robust, and high-frequency positioning systems to ensure safe and efficient train…
The ability to track a moving vehicle is of crucial importance in numerous applications. The task has often been approached by the importance sampling technique of particle filters due to its ability to model non-linear and non-Gaussian…