8 accepted papers
Classifying intentions of other traffic agents is an essential task for intelligent transportation systems. To simplify this task, vehicles are equipped with various illumination systems, including turn indicators, emergency lights, rear lights, and brake lights. We extend the Waymo open perception…
Planning for robotic systems is frequently formulated as an optimization problem. Instead of manually tweaking the parameters of the cost function, they can be learned from human demonstrations by Inverse Reinforcement Learning (IRL). Common IRL approaches employ a maximum entropy trajectory distrib…
Highly accurate localization with very limited amount of memory and computational power is one of the big challenges for next generation series cars. We propose localization based on geometric primitives which are compact in representation and further valuable for other tasks like planning and behav…
In this work we present a novel approach for multi-sensor calibration that significantly outperforms current state-of-the-art. We introduce a new spherical calibration target which has major benefits over existing targets. Those are subresolution detection accuracy in both camera and depth sensor, v…
Higher level functionality in autonomous driving depends strongly on a precise motion estimate of the vehicle. Powerful algorithms have been developed. However, their great majority focuses on either binocular imagery or pure LIDAR measurements. The promising combination of camera and LIDAR for visu…
Accurate traffic participant prediction is the prerequisite for collision avoidance of autonomous vehicles. In this work, we propose to predict pedestrians using goal-directed planning. For this, we infer a mixture density function for possible destinations. We use these destinations as the goal sta…
Environment perception is an important task in computer vision for many applications in robotics. Especially for robots navigating through different levels of a building, stair detection constitutes an important perception task. In this paper, we propose a stair detection algorithm using range data.…
Estimating the ground plane is often one of the first steps in geometric reasoning processes as it offers easily accessible context knowledge. Especially unconstrained platforms that capture video from egocentric viewpoints can benefit from such knowledge in various ways. A key requirement here is k…