Abstract: Conventional self-supervised monocular depth prediction methods are based on a static environment assumption, which leads to accuracy degradation in dynamic scenes due to the mismatch and occlusion problems introduced by object motions.
Abstract: Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots.
Abstract: Accurate localization on the autonomous driving cars is essential for autonomy and driving safety, especially for complex urban streets and search-and-rescue subterranean environments where high-accurate GPS is not available. However current odometry estimation may introduce the drifting problems in long-term navigation without robust global localization.
Abstract: This paper proposes a real-time multi-scale semantic segmentation network (MsNet). MsNet is a combination of our novel multi-scale fusion with matching attention model (MFMA) as the decoding network and the network searched by asymptotic neural architecture search (ANAS) or MobileNetV3 as the encoding network.
Abstract: Military ground vehicles operate in off-road environments traversing different terrains under various environmental conditions. There has been an increasing interest towards autonomous off-road vehicle navigation, leading to the needs of terrain traversability assessment through sensing.
Abstract: The fundamental aspect of unmanned ground vehicle (UGV) navigation, especially over off-road environments, are representations of terrain describing geometry, types, and traversability. One of the typical representations of the environment is digital surface models (DSMs) which efficiently encode geometric information.
Abstract: With the particular passage capability, all-terrain vehicle (ATV) has been widely used for off-road scenarios. In this research, we conduct a lateral sway stability analysis for the suspension mechanism of a general vehicle and establish a mathematical model of static and dynamic stability based on the maximum lateral sway angle and lateral sway acceleration, by considering the combined angular stiffness of independent suspension, angular stiffness of the lateral stabilizer bar and vertical stiffness of tires.
Abstract: Driving inattention caused by drowsiness has been a significant reason for vehicle crash accidents, and there is a critical need to augment driving safety by monitoring driver drowsiness behaviors. For real-time drowsy driving awareness, we propose a vision-based driver drowsiness monitoring system (DDMS) for driver drowsiness behavior recognition and analysis.
Abstract: Embodiments described herein may provide a method for generating a three-dimensional vector model of the interior of a structure. Methods may include: receiving sensor data indicative of a trajectory; receiving sensor data defining structural surfaces within a structure; generating a three-dimensional point cloud from the sensor data defining structural surfaces within the structure; segmenting the three-dimensional point cloud into two or more segments based, at least in part, on the sensor data indicative of trajectory; generating a three-dimensional surface model of an interior of the structure based on the segmented three-dimensional point cloud with semantic recognition and labelling; and providing the three-dimensional surface model of an interior of the structure to an advanced driver assistance system to facilitate autonomous vehicle parking.
Abstract: We present a novel collaborative mapping and autonomous parking system for semi-structured multi-story parking garages, based on cooperative 3-D LiDAR point cloud registration and Bayesian probabilistic updating. First, an inertial-enhanced (IE) generalized iterative closest point (G-ICP) approach is presented to perform high accuracy registration for LiDAR odometry, which is loosely coupled with inertial measurement unit using multi-state extended Kalman filter fusion.