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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Monocular Cyclist Detection with Convolutional Neural Net...
Charles Tang · 2023-01-16 · via cs.RO updates on arXiv.org

Cycling is an increasingly popular method of transportation for sustainability and health benefits. However, cyclists face growing risks, especially when encountering large vehicles on the road. This study aims to reduce the number of vehicle-cyclist collisions, which are often caused by poor driver attention to blind spots. To achieve this, we designed a state-of-the-art real-time monocular cyclist detection that can detect cyclists with object detection convolutional neural networks, such as EfficientDet Lite and SSD MobileNetV2. First, our proposed cyclist detection models achieve greater than 0.900 mAP (IoU: 0.5), fine-tuned on a newly proposed cyclist image dataset comprising over 20,000 images. Next, the models were deployed onto a Google Coral Dev Board mini-computer with a camera module and analyzed for speed, reaching inference times as low as 15 milliseconds. Lastly, the end-to-end cyclist detection device was tested in real-time to model traffic scenarios and analyzed further for performance and feasibility. We concluded that this cyclist detection device can accurately and quickly detect cyclists and has the potential to improve cyclist safety significantly. Future studies could determine the feasibility of the proposed device in the vehicle industry and improvements to cyclist safety over time.