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

Autonomous vehicles require precise knowledge of their position and orientation in all weather and traffic conditions for path planning, perception, control, and general safe operation. Here we derive these requirements for autonomous…

We present a novel approach to automatically identify driver behaviors from vehicle trajectories and use them for safe navigation of autonomous vehicles. We propose a novel set of features that can be easily extracted from car trajectories.…

Software log analysis can be laborious and time consuming. Time and labeled data are usually lacking in industrial settings. This paper studies unsupervised and time efficient methods for anomaly detection. We study two custom and two…

Novelty detection is a critical task in various engineering fields. Numerous approaches to novelty detection rely on supervised or semi-supervised learning, which requires labelled datasets for training. However, acquiring labelled data,…

Operational Modal Analysis (OMA) is vital for identifying modal parameters under real-world conditions, yet existing methods often face challenges with noise sensitivity and stability. This work introduces NExT-LF, a novel method that…

Continuous estimation the driver's take-over readiness is critical for safe and timely transfer of control during the failure modes of autonomous vehicles. In this paper, we propose a data-driven approach for estimating the driver's…

Current approaches to novelty or anomaly detection are based on deep neural networks. Despite their effectiveness, neural networks are also vulnerable to imperceptible deformations of the input data. This is a serious issue in critical…

State estimation of dynamical systems from noisy observations is a fundamental task in many applications. It is commonly addressed using the linear Kalman filter (KF), whose performance can significantly degrade in the presence of outliers…

Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integration models are introduced using different assumptions on the…

Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…

Unsupervised anomaly detection aims to detect defective parts of a sample by having access, during training, to a set of normal, i.e. defect-free, data. It has many applications in fields, such as industrial inspection or medical imaging,…

This paper presents a novel multi-modal Multi-Object Tracking (MOT) algorithm for self-driving cars that combines camera and LiDAR data. Camera frames are processed with a state-of-the-art 3D object detector, whereas classical clustering…

Visual-inertial odometry (VIO) is the most common approach for estimating the state of autonomous micro aerial vehicles using only onboard sensors. Existing methods improve VIO performance by including a dynamics model in the estimation…

The ability of a robot to detect and respond to changes in its environment is potentially very useful, as it draws attention to new and potentially important features. We describe an algorithm for learning to filter out previously…

While local basis function (LBF) estimation algorithms, commonly used for identifying/tracking systems with time-varying parameters, demonstrate good performance under the assumption of normally distributed measurement noise, the estimation…

Autonomous driving systems are highly dependent on sensors like cameras, LiDAR, and inertial measurement units (IMU) to perceive the environment and estimate their motion. Among these sensors, perception-based sensors are not protected from…

Intelligent mechanisms implemented in autonomous vehicles, such as proactive driving assist and collision alerts, reduce traffic accidents. However, verifying their correct functionality is difficult due to complex interactions with the…

Observations in data which are significantly different from its neighbouring points but cannot be classified as noise are known as anomalies or outliers. These anomalies are a cause of concern and a timely warning about their presence could…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

The demand for autonomous vehicles is increasing gradually owing to their enormous potential benefits. However, several challenges, such as vehicle localization, are involved in the development of autonomous vehicles. A simple and secure…