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

Anticipating the intentions of vulnerable road users (VRUs) such as pedestrians and cyclists is critical for performing safe and comfortable driving maneuvers. This is the case for human driving and, thus, should be taken into account by…

In this paper, we present a parallel architecture for a sensor fusion detection system that combines a camera and 1D light detection and ranging (lidar) sensor for object detection. The system contains two object detection methods, one…

Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…

Pedestrians are particularly vulnerable road users in urban traffic. With the arrival of autonomous driving, novel technologies can be developed specifically to protect pedestrians. We propose a machine learning toolchain to train…

A complete overview of the surrounding vehicle environment is important for driver assistance systems and highly autonomous driving. Fusing results of multiple sensor types like camera, radar and lidar is crucial for increasing the…

Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to…

Autonomous vehicles (AVs) require comprehensive and reliable pedestrian trajectory data to ensure safe operation. However, obtaining data of safety-critical scenarios such as jaywalking and near-collisions, or uncommon agents such as…

The integration of Light Detection and Ranging (LiDAR) and Internet of Things (IoT) technologies offers transformative opportunities for public health informatics in urban safety and pedestrian well-being. This paper proposes a novel…

Robots are increasingly being deployed in public spaces such as shopping malls, sidewalks, and hospitals, where safe and socially aware navigation depends on anticipating how pedestrians respond to their presence. However, existing datasets…

Although the anchor-based detectors have taken a big step forward in pedestrian detection, the overall performance of algorithm still needs further improvement for practical applications, \emph{e.g.}, a good trade-off between the accuracy…

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…

The deployment of autonomous vehicles (AVs) is rapidly expanding to numerous cities. At the heart of AVs, the object detection module assumes a paramount role, directly influencing all downstream decision-making tasks by considering the…

This dissertation is a multifaceted contribution to the advancement of vision-based 3D perception technologies. In the first segment, the thesis introduces structural enhancements to both monocular and stereo 3D object detection algorithms.…

Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…

Monocular object detection and tracking have improved drastically in recent years, but rely on a key assumption: that objects are visible to the camera. Many offline tracking approaches reason about occluded objects post-hoc, by linking…

We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…

Despite the dynamic development of computer vision algorithms, the implementation of perception and control systems for autonomous vehicles such as drones and self-driving cars still poses many challenges. A video stream captured by…

One of the main paths towards the reduction of traffic accidents is the increase in vehicle safety through driver assistance systems or even systems with a complete level of autonomy. In these types of systems, tasks such as obstacle…

Besides interacting correctly with other vehicles, automated vehicles should also be able to react in a safe manner to vulnerable road users like pedestrians or cyclists. For a safe interaction between pedestrians and automated vehicles,…

In the current demand for automation in the agro-food industry, accurately detecting and localizing relevant objects in 3D is essential for successful robotic operations. However, this is a challenge due the presence of occlusions.…