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05/03/2023
Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles
Safety and performance are key enablers for autonomous driving: on the o...
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06/01/2022
Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT
This paper reports on the development, execution, and open-sourcing of a...
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05/22/2022
Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification
This paper investigates runtime monitoring of perception systems. Percep...
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07/29/2020
Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications
Nonlinear estimation in robotics and vision is typically plagued with ou...
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05/24/2020
Monitoring and Diagnosability of Perception Systems
Perception is a critical component of high-integrity applications of rob...
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09/18/2019
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection
Semidefinite Programming (SDP) and Sums-of-Squares (SOS) relaxations hav...
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03/27/2019