332 citations · 338 across the 6 of their papers we have counts for
8 papers
Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles
Pasquale Antonante, Sushant Veer, Karen Leung +3
Safety and performance are key enablers for autonomous driving: on the one hand we want our autonomous vehicles (AVs) to be safe, while at the same time their performance (e.g., co…
Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT
Luca Carlone, Kasra Khosoussi, Vasileios Tzoumas +5
This paper reports on the development, execution, and open-sourcing of a new robotics course at MIT. The course is a modern take on "Visual Navigation for Autonomous Vehicles" (VNA…
Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification
Pasquale Antonante, Heath Nilsen, Luca Carlone
This paper investigates runtime monitoring of perception systems. Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self…
Monitoring and Diagnosability of Perception Systems
Pasquale Antonante, David I. Spivak, Luca Carlone
Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving vehicles. In these applications, failure of perception sy…
Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications
Pasquale Antonante, Vasileios Tzoumas, Heng Yang +1
Nonlinear estimation in robotics and vision is typically plagued with outliers due to wrong data association, or to incorrect detections from signal processing and machine learning…
Monitoring and Diagnosability of Perception Systems
Pasquale Antonante, David I. Spivak, Luca Carlone
Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception system…
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection
Heng Yang, Pasquale Antonante, Vasileios Tzoumas +1
Semidefinite Programming (SDP) and Sums-of-Squares (SOS) relaxations have led to certifiably optimal non-minimal solvers for several robotics and computer vision problems. However,…
Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees
Vasileios Tzoumas, Pasquale Antonante, Luca Carlone
Spatial perception is the backbone of many robotics applications, and spans a broad range of research problems, including localization and mapping, point cloud alignment, and relat…