Intelligent Vehicle Meets Urban: Safe And Certifiable Navigation And Control For Intelligent Vehicles In Complex Urban Scenarios (2nd Workshop)
Sunday, Sep 24, 2023
Bilbao, Bizkaia, Spain
DATES
Submissions: Sunday, May 28
Notifications: Wednesday, July 12
Paper Final Version: Sunday, August 20
Workshop: Sunday, September 24 (8:25 - 18:15, WS17 room 5B)
OUTLINES
This workshop aims to investigate the safety-certifiable navigation and control methods for intelligent vehicles in challenging urban scenarios which are essential but still an open question. Such exploration would significantly facilitate the massive deployment of intelligent vehicles in life-critical applications in urban areas. As the key component of the intelligent transportation system, the development of intelligent vehicles benefits the improvement of the whole system.
TOPIC OF INTEREST
Certifiable Multi-sensor fusion for IV systems localization, including GNSS, IMU, LiDAR, Camera, and High-Definition Map.
Certifiable and risk-aware perception, control, localization, and mapping.
Formal methods for monitoring and verifying uncertain systems.
Robust control of intelligent systems.
System-level monitoring and risk quantification.
System integrity monitoring and verification.
ORGANIZERS
Hong Kong Polytechnic University
Hong Kong Polytechnic University
Hong Kong University of Science and Technology
Chemnitz University of Technology
Harbin Engineering University
RWTH Aachen University
Hong Kong Polytechnic University
INVITED SPEAKERS
Presentation Topic: Integrity Monitoring for High Precision GNSS: the Road towards Reliable Outdoor Navigation
Dr. Daniel Medina (Member, IEEE) received the Ph.D. degree in Computer Sciences from Universidad Carlos III de Madrid (UC3M) in 2022. He is currently a research fellow at the Institute of Communications and Navigation of the German Aerospace Center (DLR), where he leads the Multi Sensor Systems research group, dedicated to the provision of perception and navigation solutions for waterborne transport applications. His research interests include statistical signal processing at large, robust filtering and estimation theory with applications to LiDAR perception and high precision satellite-based navigation. He is currently the elected Vice-Chair for the IEEE ITSS German Chapter. He is actively involved in the editorial and organizational processes of a number of conferences, such as ITSC 2019--2023, IV 2022, IEEE/ION PLANS 2023 or the ITSS R8 Chapters Meeting 2023.
Presentation Topic: Quantify the safety of navigation for urban air mobility
Dr. Zhu is a senior research fellow and the head of Visual and Terrestrial Augmentation group at the Institute of Communications and Navigation, German Aerospace Center (DLR). He received his Ph.D. degree (Dr.-Ing.) and Master’s degree (M.Sc.) from Technical University of Munich, Germany and his Bachelor’s degree from Tsinghua University, Beijing, China. His research fields include visual navigation, multisensor fusion, UAS and robotic swarm navigation, currently focusing on the system integrity.
Presentation Topic: Adaptive Estimation for Robust Perception
Dr. Tim Pfeifer received his Ph.D. degree from the Chemnitz University of Technology, Germany. His research interests include factor graphs, robust estimation techniques, and Gaussian mixture models for robot localization. He focuses on methods to make autonomous systems robust against unforeseen sensor events.
Presentation Topic: High-precision and reliable cooperative positioning for connected vehicles
Chen Zhuang received the B.S. and Ph.D. degrees in electronic engineering from Beihang University, Beijing, China, in 2015 and 2022, respectively. He is currently a Postdoctoral Researcher with Beihang University. His research interests include GNSS positioning, cooperative positioning, and reliability enhancement of GNSS-based automated systems.
Presentation Topic: 3D LiDAR Aided GNSS Positioning for Intelligent Vehicles in Urban Canyons
Dr. Wen received a Ph.D. degree in Mechanical Engineering from The Hong Kong Polytechnic University (PolyU), in 2020. He was also a visiting Ph.D. student with the Faculty of Engineering, University of California, Berkeley (UC Berkeley) in 2018. In 2021, he won the TechConnect World Innovation Conference and Expo, Innovation Award, U.S., and the Best Presentation Award from the Institute of Navigation (ION). Before joining PolyU as a Research Assistant Professor, he was a senior research fellow at AAE of PolyU. He is currently the associate director of the Intelligent Positioning and Navigation Laboratory (IPN Lab) at PolyU. He was the session chair of the PolyU-TUM workshop in 2021, ION GNSS+ 2022, and ICGNC 2022. Meanwhile, Dr. Wen served as the Young Editor Board Member and Leading Guest Editor of several journals. He published more than 20 SCI journal papers and 24 academic conference papers in the fields of navigation and autonomous driving.
Schedule
Morning Session 08:20-13:00: Presentation from the invited speaker
08:25 - 08:30 Dr. Weisong Wen: "Opening Remark"
08:30 - 09:00 Dr.-Ing. Daniel Arias Medina "Integrity Monitoring for High Precision GNSS: the Road towards Reliable Outdoor Navigation"
09:00 - 09:30 Dr. Chen Zhu: "Quantify the safety of navigation for urban air mobility"
09:30 - 10:00 Dr. Tim Pfeifer: "Adaptive Estimation for Robust Perception"
10:00 - 10:30 Dr. Chen Zhuang: "High-precision and reliable cooperative positioning for connected vehicles"
10:30 - 11:00 Coffee Break
11:00 - 11:30 Dr. Weisong Wen: "3D LiDAR Aided GNSS Positioning for Intelligent Vehicles in Urban Canyons"
11:30 - 12:00 HaomingZhang “Open Discussion”
13:00 - 14:00 Luch
After Session 14:00-18:15: Presentation from the accepted paper and Dicussion
14:00 - 14:25 Feng HUANG "Roadside Infrastructure assisted LiDAR/Inertial-based Mapping for Intelligent Vehicles in Urban Areas"
14:25 - 14:50 Fabian Oboril "Application of Responsibility-Sensitive Safety in areas with limited visibility: Occlusions in RSS"
14:50 - 15:15 Zekun ZHANG"Intelligent GNSS Satellite Visibility Classification in Urban Areas: A Deep Learning Approach with Interpretation"
15:15 - 15.40 Lo Li-Yu "Landing a Quadrotor on a Ground Vehicle without Exteroceptive Airborne Sensors: A Non-Robocentric Framework and Implementation"
15:40 - 16:05 Xi Zheng "Tightly-coupled Line Feature-aided Visual Inertial Localization within Lightweight 3D Prior Map for Intelligent Vehicles"
16:05 - 16:30 Runzhi Hu "Fisheye Camera Aided GNSS NLOS Detection and Learning-based Pseudorange Bias Correction for Intelligent Vehicles in Urban Canyons"
16:30 - 17:00 Coffee Break
17:00 - 17:25 Feng HUANG "Adaptive Multi-Sensor Integrated Navigation System Aided by Continuous Error Map from RSU for Autonomous Vehicles in Urban Areas"
17:25 - 17:30 Dr. Weisong Wen " Close Statement"
17:30 - 17:35 Xiwei Bai "Taking Group Photos"
Accepted Workshop Papers
Huang, Feng; Chen, Hang; Urtay, Alpamys; Su, Dongzhe; Wen, Weisong; Hsu, Li-Ta: Roadside Infrastructure assisted LiDAR/Inertial-based Mapping for Intelligent Vehicles in Urban Areas
Alvarez, Ignacio; Gassmann, Bernd; Dey, Shreya; Oboril, Fabian; Scholl, Kay-Ulrich: Application of Responsibility-Sensitive Safety in areas with limited visibility: Occlusions in RSS
ZHANG, Zekun; Xu, Penghui; Zhang, Guohao; Hsu, Li-Ta: Intelligent GNSS Satellite Visibility Classification in Urban Areas: A Deep Learning Approach with Interpretation
Lo, Li-Yu; Li, Boyang; Wen, Chih-Yung; Chang, Ching-Wei: Landing a Quadrotor on a Ground Vehicle without Exteroceptive Airborne Sensors: A Non-Robocentric Framework and Implementation
Xi, Zheng; Wen, Weisong; Hsu, Li-Ta: Tightly-coupled Line Feature-aided Visual Inertial Localization within Lightweight 3D Prior Map for Intelligent Vehicles
Huang, Feng; Wen, Weisong; Zhang, Guohao; Su, Dongzhe; Hsu, Li-Ta: Adaptive Multi-Sensor Integrated Navigation System Aided by Continuous Error Map from RSU for Autonomous Vehicles in Urban Areas
Hu, Runzhi; Wen, Weisong; Hsu, Li-Ta: Fisheye Camera Aided GNSS NLOS Detection and Learning-based Pseudorange Bias Correction for Intelligent Vehicles in Urban Canyons
Contact Us
If you have any questions, please contact organizers at:
Name: Jiachen Zhang
E-mail: jiachen.zhang@polyu.edu.hk
Postal address: PQ 408, The Hong Kong Polytechnic University, 11 Yuk Choi Road, Hung Hom, Kowloon, Hong Kong