相关论文: Collision avoidance from monocular vision trained …

We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…

Recent advances in robot imitation learning have yielded powerful visuomotor policies capable of manipulating a wide variety of objects directly from monocular visual inputs. However, monocular observations inherently lack reliable depth…

This paper describes a novel method for allowing an autonomous ground vehicle to predict the intent of other agents in an urban environment. This method, termed the cognitive driving framework, models both the intent and the potentially…

Advanced collision avoidance and driver hand-off systems can benefit from the ability to accurately predict, in real time, the probability a vehicle will be involved in a collision within an intermediate horizon of 10 to 20 seconds. The…

Autonomous driving at intersections is one of the most complicated and accident-prone traffic scenarios, especially with mixed traffic participants such as vehicles, bicycles and pedestrians. The driving policy should make safe decisions to…

Ensuring robust and real-time obstacle avoidance is critical for the safe operation of autonomous robots in dynamic, real-world environments. This paper proposes a neural network framework for predicting the time and collision position of…

3D cameras have emerged as a critical source of information for applications in robotics and autonomous driving. These cameras provide robots with the ability to capture and utilize point clouds, enabling them to navigate their surroundings…

This work addresses the task of risk evaluation in traffic scenarios with limited observability due to restricted sensorial coverage. Here, we concentrate on intersection scenarios that are difficult to access visually. To identify the area…

Many automotive applications, such as Advanced Driver Assistance Systems (ADAS) for collision avoidance and warnings, require estimating the future automotive risk of a driving scene. We present a low-cost system that predicts the collision…

The significant components of any successful autonomous flight system are task completion and collision avoidance. Most deep learning algorithms successfully execute these aspects under the environment and conditions they are trained.…

We present a robotic grasping system that uses a single external monocular RGB camera as input. The object-to-robot pose is computed indirectly by combining the output of two neural networks: one that estimates the object-to-camera pose,…

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…

3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…

Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…

Learning strategic robot behavior -- like that required in pursuit-evasion interactions -- under real-world constraints is extremely challenging. It requires exploiting the dynamics of the interaction, and planning through both physical…

A reliable sense-and-avoid system is critical to enabling safe autonomous operation of unmanned aircraft. Existing sense-and-avoid methods often require specialized sensors that are too large or power intensive for use on small unmanned…

Collision detection is essential to virtually all robotics applications. However, traditional geometric collision detection methods generally require pre-existing workspace geometry representations; thus, they are unable to infer the…

Online path planning for multiple unmanned aerial vehicle (multi-UAV) systems is considered a challenging task. It needs to ensure collision-free path planning in real-time, especially when the multi-UAV systems can become very crowded on…

To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for both planning (to ensure that plans maintain acceptable levels…

This report demonstrates several methods used to make a self-driving vehicle using a supervised learning algorithm and a forward-facing RGBD camera. The project originally involved research in creating an adversarial attack on the vehicle's…