相关论文: Cyber Mobility Mirror: A Deep Learning-based Real-…

This paper describes a system whereby a robot detects and track human-meaningful navigational cues as it navigates in an indoor environment. It is intended as the sensor front-end for a mobile robot system that can communicate its…

Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purpose. However, this combination with their associated costs…

Perception plays a crucial role in various robot applications. However, existing well-annotated datasets are biased towards autonomous driving scenarios, while unlabelled SLAM datasets are quickly over-fitted, and often lack environment and…

Intersection crossing represents one of the most dangerous sections of the road infrastructure and Connected Vehicles (CVs) can serve as a revolutionary solution to the problem. In this work, we present a novel framework that detects…

Anomaly detection is a critical requirement for ensuring safety in autonomous driving. In this work, we leverage Cooperative Perception to share information across nearby vehicles, enabling more accurate identification and consensus of…

The World Health Organization suggests that road traffic crashes cost approximately 518 billion dollars globally each year, which accounts for 3% of the gross domestic product for most countries. Most fatal road accidents in urban areas…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

The comprehensive representation and understanding of the driving environment is crucial to improve the safety and reliability of autonomous vehicles. In this paper, we present a new approach to establish an environment model containing a…

Target detection and tracking provides crucial information for motion planning and decision making in autonomous driving. This paper proposes an online multi-object tracking (MOT) framework with tracking-by-detection for maneuvering…

Large driving datasets are a key component in the current development and safeguarding of automated driving functions. Various methods can be used to collect such driving data records. In addition to the use of sensor equipped research…

Accurate environmental perception is critical for advanced driver assistance systems (ADAS). Light detection and ranging (LiDAR) systems play a crucial role in ADAS; they can reliably detect obstacles and help ensure traffic safety.…

To safely navigate intricate real-world scenarios, autonomous vehicles must be able to adapt to diverse road conditions and anticipate future events. World model (WM) based reinforcement learning (RL) has emerged as a promising approach by…

Occlusion is a major challenge for LiDAR-based object detection methods. This challenge becomes safety-critical in urban traffic where the ego vehicle must have reliable object detection to avoid collision while its field of view is…

Autonomously driving vehicles require a complete and robust perception of the local environment. A main challenge is to perceive any other road users, where multi-object tracking or occupancy grid maps are commonly used. The presented…

Cooperative perception is challenging for safety-critical autonomous driving applications.The errors in the shared position and pose cause an inaccurate relative transform estimation and disrupt the robust mapping of the Ego vehicle. We…

For autonomous driving, an essential task is to detect surrounding objects accurately. To this end, most existing systems use optical devices, including cameras and light detection and ranging (LiDAR) sensors, to collect environment data in…

LiDAR-based 3D object detection is essential for autonomous driving systems. However, LiDAR point clouds may appear to have sparsity, uneven distribution, and incomplete structures, significantly limiting the detection performance. In road…

Comprehensive perception of the vehicle's environment and correct interpretation of the environment are crucial for the safe operation of autonomous vehicles. The perception of surrounding objects is the main component for further tasks…

This paper presents Objectness SIMilarity (OSIM), a novel evaluation metric for 3D scenes that explicitly focuses on "objects," which are fundamental units of human visual perception. Existing metrics assess overall image quality, leading…

In this paper, we introduce the notion of Cooperative Perception Error Models (coPEMs) towards achieving an effective and efficient integration of V2X solutions within a virtual test environment. We focus our analysis on the occlusion…