相关论文: Road Grip Uncertainty Estimation Through Surface S…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…

The production of thematic maps depicting land cover is one of the most common applications of remote sensing. To this end, several semantic segmentation approaches, based on deep learning, have been proposed in the literature, but land…

Robotic systems, particularly in demanding environments like narrow corridors or disaster zones, often grapple with imperfect state estimation. Addressing this challenge requires a trajectory plan that not only navigates these restrictive…

The inability of state-of-the-art semantic segmentation methods to detect anomaly instances hinders them from being deployed in safety-critical and complex applications, such as autonomous driving. Recent approaches have focused on either…

Despite the remarkable progress in generative modelling, current diffusion models lack a quantitative approach to assess image quality. To address this limitation, we propose to estimate the pixel-wise aleatoric uncertainty during the…

Estimates of road grade/slope can add another dimension of information to existing 2D digital road maps. Integration of road grade information will widen the scope of digital map's applications, which is primarily used for navigation, by…

In this paper, we extend the recent body of work on planning under uncertainty to include the fact that sensors may not provide any measurement owing to misdetection. This is caused either by adverse environmental conditions that prevent…

Traffic accident anticipation aims to predict accidents from dashcam videos as early as possible, which is critical to safety-guaranteed self-driving systems. With cluttered traffic scenes and limited visual cues, it is of great challenge…

This paper presents a novel approach to vehicle positioning that operates without reliance on the global navigation satellite system (GNSS). Traditional GNSS approaches are vulnerable to interference in certain environments, rendering them…

Urban road-based risk prediction is a crucial yet challenging aspect of research in transportation safety. While most existing studies emphasize accurate prediction, they often overlook the importance of model uncertainty. In this paper, we…

High-definition (HD) maps have played an integral role in the development of modern autonomous vehicle (AV) stacks, albeit with high associated labeling and maintenance costs. As a result, many recent works have proposed methods for…

Shape completion networks have been used recently in real-world robotic experiments to complete the missing/hidden information in environments where objects are only observed in one or few instances where self-occlusions are bound to occur.…

Real-time estimation of vehicle-tire-road friction is critical for allowing autonomous race cars to safely and effectively operate at their physical limits. Traditional approaches to measure tire grip often depend on costly, specialized…

Through the development of efficient algorithms, data structures and preprocessing techniques, real-world shortest path problems in street networks are now very fast to solve. But in reality, the exact travel times along each arc in the…

Autonomous vehicles can enhance overall performance and implement safety measures in ways that are impossible with conventional automobiles. These functions are executed through vehicle control systems, which have been the subject of…

Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…

Predicting the safety of urban roads for navigation via global navigation satellite systems (GNSS) signals is considered. To ensure safe driving of automated vehicles, the vehicle must plan its trajectory to avoid navigating on unsafe roads…

Collision prediction in a dynamic and unknown environment relies on knowledge of how the environment is changing. Many collision prediction methods rely on deterministic knowledge of how obstacles are moving in the environment. However,…

This paper presents a novel road damage detection algorithm based on unsupervised disparity map segmentation. Firstly, a disparity map is transformed by minimizing an energy function with respect to stereo rig roll angle and road disparity…