相关论文: Measuring Novelty in Autonomous Vehicles Motion Us…

Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…

We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…

LiDAR-based 3D object detectors have achieved unprecedented speed and accuracy in autonomous driving applications. However, similar to other neural networks, they are often biased toward high-confidence predictions or return detections…

Autonomous Vehicles (AVs) refer to systems capable of perceiving their states and moving without human intervention. Among the factors required for autonomous decision-making in mobility, positional awareness of the vehicle itself is the…

Accurate accident anticipation is essential for enhancing the safety of autonomous vehicles (AVs). However, existing methods often assume ideal conditions, overlooking challenges such as sensor failures, environmental disturbances, and data…

This paper proposes a novel monitoring methodology for car-following control of automated vehicles that uses real-time measurements of spacing and velocity obtained through vehicle sensors. This study focuses on monitoring the time gap, a…

Detecting anomalies in datasets is a longstanding problem in machine learning. In this context, anomalies are defined as a sample that significantly deviates from the remaining data. Meanwhile, optimal transport (OT) is a field of…

The capability to detect objects is a core part of autonomous driving. Due to sensor noise and incomplete data, perfectly detecting and localizing every object is infeasible. Therefore, it is important for a detector to provide the amount…

This paper presents a prediction algorithm that estimates the vehicle trajectory every five milliseconds for an autonomous vehicle. A kinematic and a dynamic bicycle model are compared, with the dynamic model exhibiting superior accuracy at…

Anomaly detection is a challenging problem in intelligent video surveillance. Most existing methods are computation consuming, which cannot satisfy the real-time requirement. In this paper, we propose a real-time anomaly detection framework…

We present AutonoVi:, a novel algorithm for autonomous vehicle navigation that supports dynamic maneuvers and satisfies traffic constraints and norms. Our approach is based on optimization-based maneuver planning that supports dynamic…

Multiple object tracking (MOT) has been successfully investigated in computer vision. However, MOT for the videos captured by unmanned aerial vehicles (UAV) is still challenging due to small object size, blurred object appearance, and very…

This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking…

We address the problem of novelty detection in multiclass scenarios where some class labels are missing from the training set. Our method is based on the initial assignment of confidence values, which measure the affinity between a new test…

Nowadays, there are outstanding strides towards a future with autonomous vehicles on our roads. While the perception of autonomous vehicles performs well under closed-set conditions, they still struggle to handle the unexpected. This survey…

This paper introduces a visual-based localization method for autonomous vehicles (AVs) that operate in the absence of any complicated hardware system but a single camera. Visual localization refers to techniques that aim to find the…

An outlier detection method may be considered fair over specified sensitive attributes if the results of outlier detection are not skewed towards particular groups defined on such sensitive attributes. In this task, we consider, for the…

The sideslip angle, crucial for vehicle safety and stability, is determined using both longitudinal and lateral velocities. However, measuring the lateral component often necessitates costly sensors, leading to its common estimation, a…

This paper proposes a scalable and interpretable framework for lane-wise highway traffic anomaly detection, leveraging multi-modal time series data extracted from surveillance cameras. Unlike traditional sensor-dependent methods, our…

We present a new algorithm for anomaly detection called Anomaly Awareness. The algorithm learns about normal events while being made aware of the anomalies through a modification of the cost function. We show how this method works in…