相关论文: Vision-based Perception System for Automated Deliv…

Advances in sensing and learning algorithms have led to increasingly mature solutions for human detection by robots, particularly in selected use-cases such as pedestrian detection for self-driving cars or close-range person detection in…

Dense depth recovery is crucial in autonomous driving, serving as a foundational element for obstacle avoidance, 3D object detection, and local path planning. Adverse weather conditions, including haze, dust, rain, snow, and darkness,…

Pedestrian motion prediction is a key part of the modular-based autonomous driving pipeline, ensuring safe, accurate, and timely awareness of human agents' possible future trajectories. The autonomous vehicle can use this information to…

The goal of multi-object tracking (MOT) is detecting and tracking all the objects in a scene, while keeping a unique identifier for each object. In this paper, we present a new robust state-of-the-art tracker, which can combine the…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

Vision-based deep learning (DL) methods have made great progress in learning autonomous driving models from large-scale crowd-sourced video datasets. They are trained to predict instantaneous driving behaviors from video data captured by…

Deep learning-based methods for video pedestrian detection and tracking require large volumes of training data to achieve good performance. However, data acquisition in crowded public environments raises data privacy concerns -- we are not…

Reliable autonomous driving systems require accurate detection of traffic participants. To this end, multi-modal fusion has emerged as an effective strategy. In particular, 4D radar and LiDAR fusion methods based on multi-frame radar point…

Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…

With the recent advances in the object detection research field, tracking-by-detection has become the leading paradigm adopted by multi-object tracking algorithms. By extracting different features from detected objects, those algorithms can…

While various sensors have been deployed to monitor vehicular flows, sensing pedestrian movement is still nascent. Yet walking is a significant mode of travel in many cities, especially those in Europe, Africa, and Asia. Understanding…

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…

Autonomous vehicles (AVs) must share space with pedestrians, both in carriageway cases such as cars at pedestrian crossings and off-carriageway cases such as delivery vehicles navigating through crowds on pedestrianized high-streets. Unlike…

We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…

The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object…

Pedestrian detection is a critical problem in computer vision with significant impact on safety in urban autonomous driving. In this work, we explore how semantic segmentation can be used to boost pedestrian detection accuracy while having…

Legged robots are becoming increasingly powerful and popular in recent years for their potential to bring the mobility of autonomous agents to the next level. This work presents a deep reinforcement learning approach that learns a robust…

Mobile telepresence robots (MTRs) allow people to navigate and interact with a remote environment that is in a place other than the person's true location. Thanks to the recent advances in 360 degree vision, many MTRs are now equipped with…

This paper presents the perception system of a new professional cleaning robot for large public places. The proposed system is based on multiple sensors including 3D and 2D lidar, two RGB-D cameras and a stereo camera. The two lidars…

The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…