相关论文: Pedestrian motion prediction evaluation for urban …

As autonomous driving systems mature, motion forecasting has received increasing attention as a critical requirement for planning. Of particular importance are interactive situations such as merges, unprotected turns, etc., where predicting…

Pedestrian detection is the cornerstone of many vision based applications, starting from object tracking to video surveillance and more recently, autonomous driving. With the rapid development of deep learning in object detection,…

The movement of pedestrians is supposed to show certain regularities which can be best described by an ``algorithm'' for the individual behavior and is easily simulated on computers. This behavior is assumed to be determined by an intended…

Predicting human trajectories is a challenging task due to the complexity of pedestrian behavior, which is influenced by external factors such as the scene's topology and interactions with other pedestrians. A special challenge arises from…

Combining motion prediction and motion planning offers a promising framework for enhancing interactions between automated vehicles and other traffic participants. However, this introduces challenges in conditioning predictions on navigation…

Roads have well defined geometries, topologies, and traffic rules. While this has been widely exploited in motion planning methods to produce maneuvers that obey the law, little work has been devoted to utilize these priors in perception…

The research into autonomous driving applications has observed an increase in computer vision-based approaches in recent years. In attempts to develop exclusive vision-based systems, visual odometry is often considered as a key element to…

Real-time safety metrics are important for the automated driving system (ADS) to assess the risk of driving situations and to assist the decision-making. Although a number of real-time safety metrics have been proposed in the literature,…

With the recent development of autonomous vehicle technology, there have been active efforts on the deployment of this technology at different scales that include urban and highway driving. While many of the prototypes showcased have been…

In this paper, we address the important problem in self-driving of forecasting multi-pedestrian motion and their shared scene occupancy map, critical for safe navigation. Our contributions are two-fold. First, we advocate for predicting…

Motion prediction is a key factor towards the full deployment of autonomous vehicles. It is fundamental in order to ensure safety while navigating through highly interactive and complex scenarios. Lack of visibility due to an obstructed…

Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…

Predicting the future motion of actors in a traffic scene is a crucial part of any autonomous driving system. Recent research in this area has focused on trajectory prediction approaches that optimize standard trajectory error metrics. In…

Self-driving technology is expected to revolutionize different sectors and is seen as the natural evolution of road vehicles. In the last years, real-world validation of designed and virtually tested solutions is growing in importance since…

With the increased importance of autonomous navigation systems has come an increasing need to protect the safety of Vulnerable Road Users (VRUs) such as pedestrians. Predicting pedestrian intent is one such challenging task, where prior…

Pedestrian detection models in autonomous driving systems often lack robustness due to insufficient representation of dangerous pedestrian scenarios in training datasets. To address this limitation, we present a novel framework for…

Reliable anticipation of pedestrian trajectory is imperative for the operation of autonomous vehicles and can significantly enhance the functionality of advanced driver assistance systems. While significant progress has been made in the…

Motion forecasting for agents in autonomous driving is highly challenging due to the numerous possibilities for each agent's next action and their complex interactions in space and time. In real applications, motion forecasting takes place…

Accurate prediction of pedestrian crossing behaviors by autonomous vehicles can significantly improve traffic safety. Existing approaches often model pedestrian behaviors using trajectories or poses but do not offer a deeper semantic…

We present a novel method for testing the safety of self-driving vehicles in simulation. We propose an alternative to sensor simulation, as sensor simulation is expensive and has large domain gaps. Instead, we directly simulate the outputs…