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Publications associées (74)

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Over-reliance on the automation of transportation systems is understood to be the cause of new types of accidents. In this paper, the automated driving system is augmented with control methods enabling driver intervention without its full deactivation. The ...

IEEE2024

Perspective Aware Road Obstacle Detection

Pascal Fua, Mathieu Salzmann, Krzysztof Maciej Lis, Sina Honari

While road obstacle detection techniques have become increasingly effective, they typically ignore the fact that, in practice, the apparent size of the obstacles decreases as their distance to the vehicle increases. In this letter, we account for this by c ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

A vehicle's steering is a particular system in that it is exposed to individual subjective reviews based on criteria that are hard to assess quantitatively. Haptic design of such systems is a prime concern that has been at the center of industrial developm ...

EPFL2023

Implicit Distance Functions: Learning and Applications in Robotics

Mikhail Koptev

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

EPFL2023

Reshaping Perception for Autonomous Driving with Semantic Keypoints

Lorenzo Bertoni

The field of artificial intelligence is set to fuel the future of mobility by driving forward the transition from advanced driver-assist systems to fully autonomous vehicles (AV). Yet the current technology, backed by cutting-edge deep learning techniques, ...

EPFL2022

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Forecasting pedestrians' future motions is essential for autonomous driving systems to safely navigate in urban areas. However, existing prediction algorithms often overly rely on past observed trajectories and tend to fail around abrupt dynamic changes, s ...

2022

Dynamic Vehicle Drifting With Nonlinear MPC and a Fused Kinematic-Dynamic Bicycle Model

Guillaume Denis Antoine Bellegarda

In this letter we present a versatile trajectory optimization framework that leverages a fused kinematic-dynamic bicycle model for highly dynamic vehicle drifting maneuvers. Our framework can be used online to generate drifting maneuvers, offline to plan d ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Learning to Simulate Realistic LiDARs

Pascal Fua, Benoît Alain René Guillard

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for data-driven simulation ...

2022

Pedestrian Intention Prediction: A Convolutional Bottom-Up Multi-Task Approach

Alexandre Massoud Alahi, Taylor Ferdinand Mordan

The ability to predict pedestrian behaviour is crucial for road safety, traffic management systems, Advanced Driver Assistance Systems (ADAS), and more broadly autonomous vehicles. We present a vision-based system that simultaneously locates where pedestri ...

2021

We introduce a unique intelligent system that relies on the centre of mass motions for conveying the user's motion intention. The objective of this device is to achieve a standing mobility vehicle for users with lower body impairments, such as spinal cord ...

2020