dc.contributor.author | Naser, Felix M | |
dc.contributor.author | Gilitschenski, Igor | |
dc.contributor.author | Amini, Alexander A | |
dc.contributor.author | Liao, Christina | |
dc.contributor.author | Rosman, Guy | |
dc.contributor.author | Karaman, Sertac | |
dc.contributor.author | Rus, Daniela L | |
dc.date.accessioned | 2019-11-21T16:02:31Z | |
dc.date.available | 2019-11-21T16:02:31Z | |
dc.date.issued | 2019-11 | |
dc.date.submitted | 2019-11 | |
dc.identifier.uri | https://hdl.handle.net/1721.1/122984 | |
dc.description.abstract | Current perception systems mostly require direct line of sight to anticipate and ultimately prevent potential
collisions at intersections with other road users. We present a fully integrated autonomous system capable of detecting shadows or weak illumination changes on the ground caused by a dynamic obstacle in NLoS scenarios. This additional virtual sensor “ShadowCam” extends the signal range utilized so far by computer-vision ADASs. We show that (1) our algorithm maintains the mean classification accuracy of around 70% even when it doesn’t rely on infrastructure – such as AprilTags – as an image registration method. We validate (2) in real-world experiments that our autonomous car driving in night time conditions detects a hidden approaching car earlier with our virtual sensor than with the front facing 2-D LiDAR. | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
dc.relation.isversionof | https://www.iros2019.org/ | en_US |
dc.rights | Creative Commons Attribution-Noncommercial-Share Alike | en_US |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/4.0/ | en_US |
dc.source | Prof. Daniella Rus | en_US |
dc.title | Infrastructure-free NLoS Obstacle Detection for Autonomous Cars | en_US |
dc.type | Article | en_US |
dc.identifier.citation | Naser, Felix et al. "Infrastructure-free NLoS Obstacle Detection for Autonomous Cars."
IEEE/RSJ International Conference on Intelligent Robots and Systems, November 2019, Macau, China, Institute of Electrical and Electronics Engineers, forthcoming. | en_US |
dc.contributor.department | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory | en_US |
dc.contributor.department | Massachusetts Institute of Technology. Laboratory for Information and Decision Systems | en_US |
dc.contributor.department | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics | |
dc.contributor.approver | Naser, Felix M | en_US |
dc.relation.journal | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019) | en_US |
dc.eprint.version | Author's final manuscript | en_US |
dc.type.uri | http://purl.org/eprint/type/ConferencePaper | en_US |
eprint.status | http://purl.org/eprint/status/NonPeerReviewed | en_US |
dspace.date.submission | 2019-08-02T13:48:46Z | |