相关论文: Predicting Dynamic Map States from Limited Field-o…

Sequential modelling of high-dimensional data is an important problem that appears in many domains including model-based reinforcement learning and dynamics identification for control. Latent variable models applied to sequential data…

Autonomous driving needs various line-of-sight sensors to perceive surroundings that could be impaired under diverse environment uncertainties such as visual occlusion and extreme weather. To improve driving safety, we explore to wirelessly…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measurements suffer from limited range, occlusions, and sensor…

Motivated by vision-based control of autonomous vehicles, we consider the problem of controlling a known linear dynamical system for which partial state information, such as vehicle position, is extracted from complex and nonlinear data,…

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…

Event cameras are bio-inspired vision sensors that naturally capture the dynamics of a scene, filtering out redundant information. This paper presents a deep neural network approach that unlocks the potential of event cameras on a…

Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…

This paper addresses the problem of learning instantaneous occupancy levels of dynamic environments and predicting future occupancy levels. Due to the complexity of most real-world environments, such as urban streets or crowded areas, the…

In this paper we present a data-driven approach to obtain the static image of a scene, eliminating dynamic objects that might have been present at the time of traversing the scene with a camera. The general objective is to improve…

Automated vehicles operating in urban environments have to reliably interact with other traffic participants. Planning algorithms often utilize separate prediction modules forecasting probabilistic, multi-modal, and interactive behaviors of…

Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…

We consider the problems of learning forward models that map state to high-dimensional images and inverse models that map high-dimensional images to state in robotics. Specifically, we present a perceptual model for generating video frames…

Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the ever-changing road-network is to use crowd-sourced data…

The navigation systems of autonomous aircraft rely on the readings provided by a suite of onboard sensors to estimate the aircraft state. In the case of fixed wing vehicles, the sensor suite is composed by triads of accelerometers,…

In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…

In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…

Due to the complex and changing interactions in dynamic scenarios, motion forecasting is a challenging problem in autonomous driving. Most existing works exploit static road graphs to characterize scenarios and are limited in modeling…

Capabilities of inference and prediction are significant components of visual systems. In this paper, we address an important and challenging task of them: visual path prediction. Its goal is to infer the future path for a visual object in…

To implement autonomous driving, one essential step is to model the vehicle environment based on the sensor inputs. Radars, with their well-known advantages, became a popular option to infer the occupancy state of grid cells surrounding the…