相关论文: MonoPIC -- A Monocular Low-Latency Pedestrian Inte…

The detection of previously unseen, unexpected obstacles on the road is a major challenge for automated driving systems. Different from the detection of ordinary objects with pre-definable classes, detecting unexpected obstacles on the road…

Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hierarchical fashion, potentially resulting in unsafe movements…

Accurately predicting the possible behaviors of traffic participants is an essential capability for future autonomous vehicles. The majority of current researches fix the number of driving intentions by considering only a specific scenario.…

In this paper, we propose an online path planning architecture that extends the model predictive control (MPC) formulation to consider future location uncertainties for safer navigation through cluttered environments. Our algorithm combines…

Object detection and segmentation are two core modules of an autonomous vehicle perception system. They should have high efficiency and low latency while reducing computational complexity. Currently, the most commonly used algorithms are…

In mixed-traffic environments, autonomous vehicles (AVs) must interact with heterogeneous human-driven vehicles (HVs) whose intentions and driving styles vary across individuals and scenarios. Such variability introduces uncertainty into…

A monocular 3D object tracking system generally has only up-to-scale pose estimation results without any prior knowledge of the tracked object. In this paper, we propose a novel idea to recover the metric scale of an arbitrary dynamic…

To ensure pedestrian friendly streets in the era of automated vehicles, reassessment of current policies, practices, design, rules and regulations of urban areas is of importance. This study investigates pedestrian crossing behaviour, as an…

Robust and accurate trajectory estimation of mobile agents such as people and robots is a key requirement for providing spatial awareness for emerging capabilities such as augmented reality or autonomous interaction. Although currently…

We present the pedestrian patterns dataset for autonomous driving. The dataset was collected by repeatedly traversing the same three routes for one week starting at different specific timeslots. The purpose of the dataset is to capture the…

Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This…

In this work, we propose a monocular visual odometry framework, which allows exploiting the best attributes of edge feature for illumination-robust camera tracking, while at the same time ameliorating the performance degradation of edge…

Vehicle trajectory prediction is essential for enabling safety-critical intelligent transportation systems (ITS) applications used in management and operations. While there have been some promising advances in the field, there is a need for…

Predicting pedestrian motion trajectories is critical for path planning and motion control of autonomous vehicles. However, accurately forecasting crowd trajectories remains a challenging task due to the inherently multimodal and uncertain…

Predicting pedestrian crossing intentions is crucial for the navigation of mobile robots and intelligent vehicles. Although recent deep learning-based models have shown significant success in forecasting intentions, few consider incomplete…

This work explores the challenges of creating a scalable and robust robot navigation system that can traverse both indoor and outdoor environments to reach distant goals. We propose a navigation system architecture called IntentionNet that…

We propose a framework that allows a mobile robot to build a map of an indoor scenario, identifying and highlighting objects that may be considered a hindrance to people with limited mobility. The map is built by combining recent…

Recent developments in intelligent transport systems (ITS) based on smart mobility significantly improves safety and security over roads and highways. ITS networks are comprised of the Internet-connected vehicles (mobile nodes), roadside…

Autonomous driving perception tasks rely heavily on cameras as the primary sensor for Object Detection, Semantic Segmentation, Instance Segmentation, and Object Tracking. However, RGB images captured by cameras lack depth information, which…

Dynamic obstacle avoidance on quadrotors requires low latency. A class of sensors that are particularly suitable for such scenarios are event cameras. In this paper, we present a deep learning -- based solution for dodging multiple dynamic…