相关论文: Abnormal Road Surface Detection Using Wheel Sensor…
To operate safely, autonomous vehicles (AVs) need to detect and handle unexpected objects or anomalies on the road. While significant research exists for anomaly detection and segmentation in 2D, research progress in 3D is underexplored.…
In recent years, autonomous mobile platforms are finding an increasing range of applications in inspection or surveillance tasks, or to the transport of objects, in places such as smart warehouses, factories or hospitals. In these…
One of the most important object properties that humans and robots perceive through touch is hardness. This paper investigates information-theoretic active sampling strategies for sample-efficient hardness classification with vision-based…
This paper presents a novel road damage detection algorithm based on unsupervised disparity map segmentation. Firstly, a disparity map is transformed by minimizing an energy function with respect to stereo rig roll angle and road disparity…
Sensor-fault detection is crucial for the safe operation of autonomous vehicles. This paper introduces a novel kinematics-based approach for detecting and identifying faulty sensors, which is model-independent, rule-free, and applicable to…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
We investigate the transduction of tactile information during active exploration of finely textured surfaces using a novel tactile sensor mimicking the human fingertip. The sensor has been designed by integrating a linear array of 10…
Estimating subsurface dielectric properties is essential for applications ranging from environmental surveys of soils to nondestructive evaluation of concrete in infrastructure. Conventional wave inversion methods typically assume few…
Electrical Impedance Tomography (EIT)-based tactile sensors offer cost-effective and scalable solutions for robotic sensing, especially promising for soft robots. However a major issue of EIT-based tactile sensors when applied in highly…
The rapid development of 3D object detection systems for self-driving cars has significantly improved accuracy. However, these systems struggle to generalize across diverse driving environments, which can lead to safety-critical failures in…
Monitoring the dynamics of traffic in major corridors can provide invaluable insight for traffic planning purposes. An important requirement for this monitoring is the availability of methods to automatically detect major traffic events and…
We propose a novel and pragmatic framework for traffic scene perception with roadside cameras. The proposed framework covers a full-stack of roadside perception pipeline for infrastructure-assisted autonomous driving, including object…
This study proposes a learning-based method with domain adaptability for input estimation of vehicle suspension systems. In a crowdsensing setting for bridge health monitoring, vehicles carry sensors to collect samples of the bridge's…
Autonomous vehicles are predicted to dominate the transportation industry in the foreseeable future. Safety is one of the major challenges to the early deployment of self-driving systems. To ensure safety, self-driving vehicles must sense…
Automated vehicles need to estimate tire-road friction information, as it plays a key role in safe trajectory planning and vehicle dynamics control. Notably, friction is not solely dependent on road surface conditions, but also varies…
Automation of complex traffic scenarios is expected to rely on input from a roadside infrastructure to complement the vehicles' environment perception. We here explore design requirements for a prototypical setup of virtual vision or RADAR…
Research in visual anomaly detection draws much interest due to its applications in surveillance. Common datasets for evaluation are constructed using a stationary camera overlooking a region of interest. Previous research has shown…
Machine learning has emerged as a promising paradigm for enabling connected, automated vehicles to autonomously cruise the streets and react to unexpected situations. A key challenge, however, is to collect and select real-time and reliable…
3D lanes offer a more comprehensive understanding of the road surface geometry than 2D lanes, thereby providing crucial references for driving decisions and trajectory planning. While many efforts aim to improve prediction accuracy, we…
To address the weak observability of monocular visual-inertial odometers on ground-based mobile robots, this paper proposes a monocular inertial SLAM algorithm combined with wheel speed anomaly detection. The algorithm uses a wheel speed…