相关论文: Maneuver Detection via a Confidence Dominance Mane…

This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…

Optimal control problems with discrete-valued inputs are inherently challenging due to their mixed-integer nature, rendering them generally intractable for real-time, safety-critical aerospace applications. Lossless convexification offers a…

Reliable uncertainty estimation is crucial for perception systems in safe autonomous driving. Recently, many methods have been proposed to model uncertainties in deep learning based object detectors. However, the estimated probabilities are…

Data-driven models (DDM) based on machine learning and other AI techniques play an important role in the perception of increasingly autonomous systems. Due to the merely implicit definition of their behavior mainly based on the data used…

Facial landmark detection is an important yet challenging task for real-world computer vision applications. This paper proposes an effective and robust approach for facial landmark detection by combining data- and model-driven methods.…

Predicting the motion of other road agents enables autonomous vehicles to perform safe and efficient path planning. This task is very complex, as the behaviour of road agents depends on many factors and the number of possible future…

Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…

Environment perception is the task for intelligent vehicles on which all subsequent steps rely. A key part of perception is to safely detect other road users such as vehicles, pedestrians, and cyclists. With modern deep learning techniques…

Autonomous vehicles are continually increasing their presence on public roads. However, before any new autonomous driving software can be approved, it must first undergo a rigorous assessment of driving quality. These quality evaluations…

Vision-based dynamic pedestrian intrusion detection (PID), judging whether pedestrians intrude an area-of-interest (AoI) by a moving camera, is an important task in mobile surveillance. The dynamically changing AoIs and a number of…

In state-of-the-art deep learning for object recognition, SoftMax and Sigmoid functions are most commonly employed as the predictor outputs. Such layers often produce overconfident predictions rather than proper probabilistic scores, which…

Uncertainty is prevalent in robotics. Due to measurement noise and complex dynamics, we cannot estimate the exact system and environment state. Since conservative motion planners are not guaranteed to find a safe control strategy in a…

Ensuring safe navigation in human-populated environments is crucial for autonomous mobile robots. Although recent advances in machine learning offer promising methods to predict human trajectories in crowded areas, it remains unclear how…

Sensor fusion of a MEMS IMU with a magnetometer is a popular system design, because such 9-DoF (degrees of freedom) systems are capable of achieving drift-free 3D orientation tracking. However, these systems are often vulnerable to ambient…

Falls are one of the leading cause of injury-related deaths among the elderly worldwide. Effective detection of falls can reduce the risk of complications and injuries. Fall detection can be performed using wearable devices or ambient…

Motion prediction of vehicles is critical but challenging due to the uncertainties in complex environments and the limited visibility caused by occlusions and limited sensor ranges. In this paper, we study a new task, safety-aware motion…

Object recognition and instance segmentation are fundamental skills in any robotic or autonomous system. Existing state-of-the-art methods are often unable to capture meaningful uncertainty in challenging or ambiguous scenes, and as such…

LiDAR sensors are essential for autonomous systems, yet LiDAR fiducial markers (LFMs) lag behind visual fiducial markers (VFMs) in adoption and utility. Bridging this gap is vital for robotics and computer vision but challenging due to the…

Accurate vehicle trajectory prediction is critical for safe and efficient autonomous driving, especially in mixed traffic environments when both human-driven and autonomous vehicles co-exist. However, uncertainties introduced by inherent…

This paper proposes a dual-supervised uncertainty inference (DS-UI) framework for improving Bayesian estimation-based uncertainty inference (UI) in deep neural network (DNN)-based image recognition. In the DS-UI, we combine the classifier…