相关论文: Traffic State Estimation from Vehicle Trajectories…

Recent work on simultaneous trajectory estimation and mapping (STEAM) for mobile robots has found success by representing the trajectory as a Gaussian process. Gaussian processes can represent a continuous-time trajectory, elegantly handle…

Gaussian process (GP) regression is a powerful probabilistic modeling technique with built-in uncertainty quantification. When one has access to multiple correlated simulations (tasks), it is common to fit a multitask GP (MTGP) surrogate…

Terrain analysis is critical for the practical ap- plication of ground mobile robots in real-world tasks, espe- cially in outdoor unstructured environments. In this paper, we propose a novel spatial-temporal traversability assessment…

Mobile sensing enabled by GPS or smart phones has become an increasingly important source of traffic data. For sufficient coverage of the traffic stream, it is important to maintain a reasonable penetration rate of probe vehicles. From the…

We present a principled study on defining Gaussian processes (GPs) with inputs on the product of directional manifolds. A circular kernel is first presented according to the von Mises distribution. Based thereon, the hypertoroidal von Mises…

Gaussian Processes (GPs) are expressive models for capturing signal statistics and expressing prediction uncertainty. As a result, the robotics community has gathered interest in leveraging these methods for inference, planning, and…

Multivariate time series forecasting poses challenges as the variables are intertwined in time and space, like in the case of traffic signals. Defining signals on graphs relaxes such complexities by representing the evolution of signals…

Traffic simulators are widely used to study the operational efficiency of road infrastructure, but their rule-based approach limits their ability to mimic real-world driving behavior. Traffic intersections are critical components of the…

In intelligent transportation systems, traffic data imputation, estimating the missing value from partially observed data is an inevitable and challenging task. Previous studies have not fully considered traffic data's multidimensionality…

Recently, adaptive graph convolutional network based traffic prediction methods, learning a latent graph structure from traffic data via various attention-based mechanisms, have achieved impressive performance. However, they are still…

Gaussian process (GP) models are widely used to analyze spatially referenced data and to predict values at locations without observations. In contrast to many algorithmic procedures, GP models are based on a statistical framework, which…

Large, multi-dimensional spatio-temporal datasets are omnipresent in modern science and engineering. An effective framework for handling such data are Gaussian process deep generative models (GP-DGMs), which employ GP priors over the latent…

This paper proposes a hybrid Gaussian process (GP) approach to robust economic model predictive control under unknown future disturbances in order to reduce the conservatism of the controller. The proposed hybrid GP is a combination of two…

Gaussian processes (GPs) are the most common formalism for defining probability distributions over spaces of functions. While applications of GPs are myriad, a comprehensive understanding of GP sample paths, i.e. the function spaces over…

As an important information for traffic condition evaluation, trip planning, transportation management, etc., average travel speed for a road means the average speed of vehicles travelling through this road in a given time duration.…

The Gaussian process (GP) regression can be severely biased when the data are contaminated by outliers. This paper presents a new robust GP regression algorithm that iteratively trims the most extreme data points. While the new algorithm…

Variational autoencoders (VAE) are a powerful and widely-used class of models to learn complex data distributions in an unsupervised fashion. One important limitation of VAEs is the prior assumption that latent sample representations are…

With the increasing presence of autonomous vehicles (AVs) on public roads, developing robust control strategies to navigate the uncertainty of human-driven vehicles (HVs) is crucial. This paper introduces an advanced method for modeling HV…

In this paper we introduce a novel model for Gaussian process (GP) regression in the fully Bayesian setting. Motivated by the ideas of sparsification, localization and Bayesian additive modeling, our model is built around a recursive…

Gaussian processes (GPs) are a class of Kernel methods that have shown to be very useful in geoscience and remote sensing applications for parameter retrieval, model inversion, and emulation. They are widely used because they are simple,…