相关论文: Closed-loop Analysis of Vision-based Autonomous Sy…

Deep neural networks (DNNs) have accomplished impressive success in various applications, including autonomous driving perception tasks, in recent years. On the other hand, current deep neural networks are easily fooled by adversarial…

Numerous groups have applied a variety of deep learning techniques to computer vision problems in highway perception scenarios. In this paper, we presented a number of empirical evaluations of recent deep learning advances. Computer vision,…

Autonomous driving depends on perception systems to understand the environment and to inform downstream decision-making. While advanced perception systems utilizing black-box Deep Neural Networks (DNNs) demonstrate human-like comprehension,…

The deep neural networks (DNNs)based autonomous driving systems (ADSs) are expected to reduce road accidents and improve safety in the transportation domain as it removes the factor of human error from driving tasks. The DNN based ADS…

Computer vision applications in intelligent transportation systems (ITS) and autonomous driving (AD) have gravitated towards deep neural network architectures in recent years. While performance seems to be improving on benchmark datasets,…

We study the problem of safety verification of direct perception neural networks, where camera images are used as inputs to produce high-level features for autonomous vehicles to make control decisions. Formal verification of direct…

Artificial intelligence (AI) systems power the world we live in. Deep neural networks (DNNs) are able to solve tasks in an ever-expanding landscape of scenarios, but our eagerness to apply these powerful models leads us to focus on their…

In this work, we present a novel framework for camera relocation in autonomous vehicles, leveraging deep neural networks (DNN). While existing literature offers various DNN-based camera relocation methods, their deployment is hindered by…

Autonomous vehicles hold great promise in improving the future of transportation. The driving models used in these vehicles are based on neural networks, which can be difficult to validate. However, ensuring the safety of these models is…

Automotive Cyber-Physical Systems (ACPS) have attracted a significant amount of interest in the past few decades, while one of the most critical operations in these systems is the perception of the environment. Deep learning and,…

Uncertainties in Deep Neural Network (DNN)-based perception and vehicle's motion pose challenges to the development of safe autonomous driving vehicles. In this paper, we propose a safe motion planning framework featuring the quantification…

We demonstrate a unified approach to rigorous design of safety-critical autonomous systems using the VerifAI toolkit for formal analysis of AI-based systems. VerifAI provides an integrated toolchain for tasks spanning the design process,…

As autonomous systems increasingly rely on Deep Neural Networks (DNN) to implement the navigation pipeline functions, uncertainty estimation methods have become paramount for estimating confidence in DNN predictions. Bayesian Deep Learning…

Neural networks are often used to process information from image-based sensors to produce control actions. While they are effective for this task, the complex nature of neural networks makes their output difficult to verify and predict,…

This work focuses on the design of a deep learning-based autonomous driving system deployed and tested on the real-world MIT Racecar to assess its effectiveness in driving scenarios. The Deep Neural Network (DNN) translates raw image inputs…

QuadPlanes combine the range efficiency of fixed-wing aircraft with the maneuverability of multi-rotor platforms for long-range autonomous missions. In GPS-denied or cluttered urban environments, perception-based landing is vital for…

Deep Neural Networks (DNNs) are becoming widespread, particularly in safety-critical areas. One prominent application is image recognition in autonomous driving, where the correct classification of objects, such as traffic signs, is…

This paper analyzes the robustness of deep learning models in autonomous driving applications and discusses the practical solutions to address that.

Control of a dynamical system without the knowledge of dynamics is an important and challenging task. Modern machine learning approaches, such as deep neural networks (DNNs), allow for the estimation of a dynamics model from control inputs…

Deep neural network (DNN) verification is an emerging field, with diverse verification engines quickly becoming available. Demonstrating the effectiveness of these engines on real-world DNNs is an important step towards their wider…