Browsing University of Waterloo by Subject "autonomous driving"
Now showing items 1-20 of 27
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3D Online Multi-Object Tracking for Autonomous Driving
(University of Waterloo, 2019-08-29)This research work focuses on exploring a novel 3D multi-object tracking architecture: 'FANTrack: 3D Multi-Object Tracking with Feature Association Network' for autonomous driving, based on tracking by detection and online ... -
Application of Game Theory to Interactive Lane Change Decision Making for Autonomous Driving
(University of Waterloo, 2022-12-21)The decision-making and motion planning play a critical role in the autonomous driving by connecting the perception to the vehicle control. It aims at generating available paths in the specific driving environment considering ... -
An Application of Out-of-Distribution Detection for Two-Stage Object Detection Networks
(University of Waterloo, 2020-02-14)Recently, much research has been published for detecting when a classification neural network is presented with data that does not fit into one of the class labels the network learned at train time. These so-called ... -
Autonomous Driving at Intersections: A Critical-Turning-Point Approach for Planning and Decision Making
(University of Waterloo, 2020-08-28)Left-turning at unsignalized intersection is one of the most challenging tasks for urban automated driving, due to the various shapes of different intersections, and rapidly changing nature of the driving scenarios. Many ... -
Autonomous Driving: A Multi-Objective Deep Reinforcement Learning Approach
(University of Waterloo, 2019-05-23)Autonomous driving is a challenging domain that entails multiple aspects: a vehicle should be able to drive to its destination as fast as possible while avoiding collision, obeying traffic rules and ensuring the comfort ... -
Autonomous Driving: Mapping and Behavior Planning for Crosswalks
(University of Waterloo, 2019-09-23)As autonomous driving integrates with every day traffic, early adopters are initially skeptical and designers are overly cautious. With safety as the top priority, current systems are sometimes too slow at executing maneuvers. ... -
Closing the Modelling Gap: Transfer Learning from a Low-Fidelity Simulator for Autonomous Driving
(University of Waterloo, 2020-01-24)The behaviour planning subsystem, which is responsible for high-level decision making and planning, is an important aspect of an autonomous driving system. There are advantages to using a learned behaviour planning system ... -
Cooperative Sensing and Computation for Environment Perception in Autonomous Driving with Vehicular Edge Computing
(University of Waterloo, 2022-05-06)The advances in sensing technologies, artificial intelligence, Internet of vehicles, and edge computing paradigm pave the way for autonomous driving, which is a key use case that will re shape the future transportation ... -
Development of a Distributed Model Predictive Controller for Over-Actuated Autonomous Vehicle Path Tracking
(University of Waterloo, 2023-04-19)Widespread interest in the advancement of autonomous vehicle technology is motivated by multiple outstanding issues associated with vehicular travel despite the decades-long ubiquity of this mode of transportation. It is ... -
Development of an Autonomous Vehicle Platform
(University of Waterloo, 2019-08-27)Autonomous vehicles and their related development are gaining a lot of traction as a promising up and coming technology. The Mechatronics Vehicle Systems lab at the University of Waterloo is well pioneered in the automotive ... -
Domain Adaptation for Autonomous Driving
(University of Waterloo, 2020-10-20)Metric based method is a promising approach to domain adaptation, which aims to align the marginal distribution of different domains with a similar conditional distribution. The thesis explores applying domain adaptation ... -
Environment Modeling, Action Classification, and Control for Urban Automated Driving
(University of Waterloo, 2022-12-23)This thesis discusses the design and implementation of WATonomous' Automated Driving Stack (ADS), which is capable of performing robo-taxi services in specific operational domains when deployed to WATonomous' research ... -
FJMP: Factorized Joint Multi-Agent Motion Prediction
(University of Waterloo, 2023-08-30)Multi-agent motion prediction is an important problem in an autonomous driving pipeline, and it involves forecasting the future behaviour of multiple agents in complex driving environments. Autonomous vehicles (AVs) should ... -
Imitation Learning and Direct Perception for Autonomous Driving
(University of Waterloo, 2020-09-15)This thesis presents two learning based approaches to solve the autonomous driving problem: end-to-end imitation learning and direct visual perception. Imitation learning uses expert demonstrations to build a policy that ... -
Investigating Driver Experience and Augmented Reality Head-Up Displays in Autonomous Vehicles
(University of Waterloo, 2017-05-30)Autonomous driving is on the horizon. Partially automated vehicles recently started to emerge in the market, and companies are dedicated to bringing more automated driving capabilities to the vehicles in the near future. ... -
MLOD: A multi-view 3D object detection based on robust feature fusion method
(University of Waterloo, 2019-09-19)This thesis presents Multi-view Labelling Object Detector (MLOD). The detector takes an RGB image and a LIDAR point cloud as input and follows the two-stage object detection framework. A Region Proposal Network (RPN) ... -
Motion Planning and Safety for Autonomous Driving
(University of Waterloo, 2019-12-11)This thesis discusses two different problems in motion planning for autonomous driving. The first is the problem of optimizing a lattice planner control set for any particular autonomous driving task, with the goal of ... -
Object Segmentation and Reconstruction Using Infrastructure Sensor Nodes for Autonomous Mobility
(University of Waterloo, 2023-06-07)This thesis focuses on the Lidar point cloud processing for the infrastructure sensor node that serves as the perception system for autonomous robots with general mobility in indoor applications. Compared with typical ... -
On the Enhancement of the Localization of Autonomous Mobile Platforms
(University of Waterloo, 2020-08-27)The focus of many industrial and research entities on achieving full robotic autonomy increased in the past few years. In order to achieve full robotic autonomy, a fundamental problem is the localization, which is the ... -
Perception and Prediction in Multi-Agent Urban Traffic Scenarios for Autonomous Driving
(University of Waterloo, 2023-09-21)In multi-agent urban scenarios, autonomous vehicles navigate an intricate network of interactions with a variety of agents, necessitating advanced perception modeling and trajectory prediction. Research to improve perception ...