相关论文: Certified Vision-based State Estimation for Autono…

Vision-based navigation of autonomous vehicles primarily depends on the Deep Neural Network (DNN) based systems in which the controller obtains input from sensors/detectors, such as cameras and produces a vehicle control output, such as a…

In this paper, we present a novel information processing architecture for safe deep learning-based visual navigation of autonomous systems. The proposed information processing architecture is used to support a perceptual attention-based…

Landing an unmanned aerial vehicle (UAV) on a ground marker is an open problem despite the effort of the research community. Previous attempts mostly focused on the analysis of hand-crafted geometric features and the use of external sensors…

We present a vehicle self-localization method using point-based deep neural networks. Our approach processes measurements and point features, i.e. landmarks, from a high-definition digital map to infer the vehicle's pose. To learn the best…

Density of the reachable states can help understand the risk of safety-critical systems, especially in situations when worst-case reachability is too conservative. Recent work provides a data-driven approach to compute the density…

Lane-level scene annotations provide invaluable data in autonomous vehicles for trajectory planning in complex environments such as urban areas and cities. However, obtaining such data is time-consuming and expensive since lane annotations…

A convolutional neural network (CNN) approach is used to implement a level 2 autonomous vehicle by mapping pixels from the camera input to the steering commands. The network automatically learns the maximum variable features from the camera…

In autonomous racing, vehicles operate close to the limits of handling and a sensor failure can have critical consequences. To limit the impact of such failures, this paper presents the redundant perception and state estimation approaches…

A fundamental challenge in autonomous vehicles is adjusting the steering angle at different road conditions. Recent state-of-the-art solutions addressing this challenge include deep learning techniques as they provide end-to-end solution to…

Over the past decade, machine learning has demonstrated impressive results, often surpassing human capabilities in sensing tasks relevant to autonomous flight. Unlike traditional aerospace software, the parameters of machine learning models…

Ensuring safety in autonomous systems with vision-based control remains a critical challenge due to the high dimensionality of image inputs and the fact that the relationship between true system state and its visual manifestation is…

Neural networks have become state-of-the-art for computer vision problems because of their ability to efficiently model complex functions from large amounts of data. While neural networks can be shown to perform well empirically for a…

This paper addresses the problem of viewpoint estimation of an object in a given image. It presents five key insights that should be taken into consideration when designing a CNN that solves the problem. Based on these insights, the paper…

In this paper, we investigate visual-based camera re-localization with neural networks for robotics and autonomous vehicles applications. Our solution is a CNN-based algorithm which predicts camera pose (3D translation and 3D rotation)…

Unmanned Aerial Vehicles (UAVs), equipped with camera sensors can facilitate enhanced situational awareness for many emergency response and disaster management applications since they are capable of operating in remote and difficult to…

Given the necessity of connecting the unconnected, covering blind spots has emerged as a critical task in the next-generation wireless communication network. A direct solution involves obtaining a coverage manifold that visually showcases…

Accurate state estimation is critical for optimal policy design in dynamic systems. However, obtaining true system states is often impractical or infeasible, complicating the policy learning process. This paper introduces a novel neural…

Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…

This paper describes how advanced deep learning based computer vision algorithms are applied to enable real-time on-board sensor processing for small UAVs. Four use cases are considered: target detection, classification and localization,…

Vision-based object tracking is a critical component for achieving autonomous aerial navigation, particularly for obstacle avoidance. Neuromorphic Dynamic Vision Sensors (DVS) or event cameras, inspired by biological vision, offer a…