相关论文: Robust Lane Marking Detection Algorithm Using Driv…

Loop Closure Detection (LCD) is the essential module in the simultaneous localization and mapping (SLAM) task. In the current appearance-based SLAM methods, the visual inputs are usually affected by illumination, appearance and viewpoints…

3D-LaneNet+ is a camera-based DNN method for anchor free 3D lane detection which is able to detect 3d lanes of any arbitrary topology such as splits, merges, as well as short and perpendicular lanes. We follow recently proposed 3D-LaneNet,…

Aiming at highly accurate object detection for connected and automated vehicles (CAVs), this paper presents a Deep Neural Network based 3D object detection model that leverages a three-stage feature extractor by developing a novel…

RRT* is an efficient sampling-based motion planning algorithm. However, without taking advantages of accessible environment information, sampling-based algorithms usually result in sampling failures, generate useless nodes, and/or fail in…

Vehicle tracking is an integral part of intelligent traffic management systems. Previous implementations of vehicle tracking used Global Positioning System(GPS) based systems that gave location of the vehicle of an individual on their…

This work introduces a new approach for joint detection of centerlines based on image data by localizing the features jointly in 2D and 3D. In contrast to existing work that focuses on detection of visual cues, we explore feature extraction…

This paper deals with the problem of detecting fallen people lying on the floor by means of a mobile robot equipped with a 3D depth sensor. In the proposed algorithm, inspired by semantic segmentation techniques, the 3D scene is…

Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…

In GPS-denied scenarios, a robust environmental perception and localization system becomes crucial for autonomous driving. In this paper, a LiDAR-based online localization system is developed, incorporating road marking detection and…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

Detecting road obstacles is essential for autonomous vehicles to navigate dynamic and complex traffic environments safely. Current road obstacle detection methods typically assign a score to each pixel and apply a threshold to generate…

This paper presents the FPGA design of a convolutional neural network (CNN) based road segmentation algorithm for real-time processing of LiDAR data. For autonomous vehicles, it is important to perform road segmentation and obstacle…

This paper presents a novel approach to computing vector road maps from satellite remotely sensed images, building upon a well-defined Patched Line Segment (PaLiS) representation for road graphs that holds geometric significance. Unlike…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…

This paper proposes a spatiotemporal architecture with a deep neural network (DNN) for road surface conditions and types classification using LiDAR. It is known that LiDAR provides information on the reflectivity and number of point clouds…

Road detection or traversability analysis has been a key technique for a mobile robot to traverse complex off-road scenes. The problem has been mainly formulated in early works as a binary classification one, e.g. associating pixels with…

This project aims to develop a robust video surveillance system, which can segment videos into smaller clips based on the detection of activities. It uses CCTV footage, for example, to record only major events-like the appearance of a…

Semantic segmentation and lane detection are crucial tasks in autonomous driving systems. Conventional approaches predominantly rely on deep neural networks (DNNs), which incur high energy costs due to extensive analog-to-digital…

Extracting roads from high-resolution remote sensing images (HRSIs) is vital in a wide variety of applications, such as autonomous driving, path planning, and road navigation. Due to the long and thin shape as well as the shades induced by…

In recent studies, numerous previous works emphasize the importance of semantic segmentation of LiDAR data as a critical component to the development of driver-assistance systems and autonomous vehicles. However, many state-of-the-art…