相关论文: Uncertainty-aware Perception Models for Off-road A…

This work addresses the challenge of developing a localization system for an uncrewed ground vehicle (UGV) operating autonomously in unstructured outdoor Global Navigation Satellite System (GNSS)-denied environments. The goal is to enable…

Effective use of camera-based vision systems is essential for robust performance in autonomous off-road driving, particularly in the high-speed regime. Despite success in structured, on-road settings, current end-to-end approaches for scene…

Autonomous driving in dense, dynamic environments requires decision-making systems that can exploit both spatial structure and long-horizon temporal dependencies while remaining robust to uncertainty. This work presents a novel framework…

Tremendous progress in deep learning over the last years has led towards a future with autonomous vehicles on our roads. Nevertheless, the performance of their perception systems is strongly dependent on the quality of the utilized training…

Heterogeneous air-ground robot teams combine complementary sensing modalities, mobility characteristics, and spatial viewpoints that can significantly enhance perception in complex outdoor environments. However, progress in multi-robot…

Trajectory prediction seeks to forecast the future motion of dynamic entities, such as vehicles and pedestrians, given a temporal horizon of historical movement data and environmental context. A central challenge in this domain is the…

This paper addresses the problem of active collaborative localization in heterogeneous robot teams with unknown data association. It involves positioning a small number of identical unmanned ground vehicles (UGVs) at desired positions so…

Unsupervised domain adaptation methods seek to generalize effectively on unlabeled test data, especially when encountering the common challenge in time series data that distribution shifts occur between training and testing datasets. In…

Datasets collected from the open world unavoidably suffer from various forms of randomness or noiseness, leading to the ubiquity of aleatoric (data) uncertainty. Quantifying such uncertainty is particularly pivotal for object detection,…

All-day and all-weather navigation is a critical capability for autonomous driving, which requires proper reaction to varied environmental conditions and complex agent behaviors. Recently, with the rise of deep learning, end-to-end control…

Deep neural networks (DNN) which are employed in perception systems for autonomous driving require a huge amount of data to train on, as they must reliably achieve high performance in all kinds of situations. However, these DNN are usually…

This paper presents a two-layer control framework for Autonomous Underwater Vehicles (AUVs) designed to handle uncertain nonlinear dynamics, including the mass matrix, previously assumed known. Unlike prior studies, this approach makes the…

Autonomous vehicles (AV) require that neural networks used for perception be robust to different viewpoints if they are to be deployed across many types of vehicles without the repeated cost of data collection and labeling for each. AV…

Despite the strong predictive performance of deep learning models for traffic prediction, their widespread deployment in real-world intelligent transportation systems has been restrained by a lack of interpretability. Uncertainty…

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…

In this paper, we present the Circular Accessible Depth (CAD), a robust traversability representation for an unmanned ground vehicle (UGV) to learn traversability in various scenarios containing irregular obstacles. To predict CAD, we…

Autonomous vehicles that navigate in open-world environments may encounter previously unseen object classes. However, most existing LiDAR panoptic segmentation models rely on closed-set assumptions, failing to detect unknown object…

For a self-driving car to operate reliably, its perceptual system must generalize to the end-user's environment -- ideally without additional annotation efforts. One potential solution is to leverage unlabeled data (e.g., unlabeled LiDAR…

Uncertainty estimation is essential to make neural networks trustworthy in real-world applications. Extensive research efforts have been made to quantify and reduce predictive uncertainty. However, most existing works are designed for…

We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and boulders, steep slopes, negative obstacles like cliffs and…