A Survey of Autonomous Driving: Common Practices and Emerging Technologies

E Yurtsever, J Lambert, A Carballo, K Takeda - IEEE access, 2020 - ieeexplore.ieee.org
Automated driving systems (ADSs) promise a safe, comfortable and efficient driving
experience. However, fatalities involving vehicles equipped with ADSs are on the rise. The …

A survey on multi-sensor fusion based obstacle detection for intelligent ground vehicles in off-road environments

J Hu, B Zheng, C Wang, C Zhao, X Hou, Q Pan… - Frontiers of Information …, 2020 - Springer
With the development of sensor fusion technologies, there has been a lot of research on
intelligent ground vehicles, where obstacle detection is one of the key aspects of vehicle …

Kimera: From SLAM to spatial perception with 3D dynamic scene graphs

A Rosinol, A Violette, M Abate… - … Journal of Robotics …, 2021 - journals.sagepub.com
Humans are able to form a complex mental model of the environment they move in. This
mental model captures geometric and semantic aspects of the scene, describes the …

Detection and tracking of pedestrians and vehicles using roadside LiDAR sensors

J Zhao, H Xu, H Liu, J Wu, Y Zheng, D Wu - Transportation research part C …, 2019 - Elsevier
Abstract Light Detection and Ranging (LiDAR) is a remote sensing technology widely used
in many areas ranging from making precise medical equipment to creating accurate …

3D dynamic scene graphs: Actionable spatial perception with places, objects, and humans

A Rosinol, A Gupta, M Abate, J Shi… - arXiv preprint arXiv …, 2020 - arxiv.org
We present a unified representation for actionable spatial perception: 3D Dynamic Scene
Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (eg …

Performance analysis of 10 models of 3D LiDARs for automated driving

J Lambert, A Carballo, AM Cano, P Narksri… - IEEE …, 2020 - ieeexplore.ieee.org
Automated vehicle technology has recently become reliant on 3D LiDAR sensing for
perception tasks such as mapping, localization and object detection. This has led to a rapid …

Motion-based detection and tracking in 3d lidar scans

A Dewan, T Caselitz, GD Tipaldi… - 2016 IEEE international …, 2016 - ieeexplore.ieee.org
Robots are expected to operate autonomously in increasingly complex scenarios such as
crowded streets or heavy traffic situations. Perceiving the dynamics of moving objects in the …

The role of machine vision for intelligent vehicles

B Ranft, C Stiller - IEEE Transactions on Intelligent vehicles, 2016 - ieeexplore.ieee.org
Humans assimilate information from the traffic environment mainly through visual
perception. Obviously, the dominant information required to conduct a vehicle can be …

Commonsense Prototype for Outdoor Unsupervised 3D Object Detection

H Wu, S Zhao, X Huang, C Wen… - Proceedings of the …, 2024 - openaccess.thecvf.com
The prevalent approaches of unsupervised 3D object detection follow cluster-based pseudo-
label generation and iterative self-training processes. However the challenge arises due to …

Mapless online detection of dynamic objects in 3d lidar

D Yoon, T Tang, T Barfoot - 2019 16th Conference on …, 2019 - ieeexplore.ieee.org
This paper presents a model-free, setting-independent method for online detection of
dynamic objects in 3D lidar data. We explicitly compensate for the moving-while-scanning …