Publications

See Prof. Waslander's Google Scholar page and the WAVELab website for more complete listings and previously published work.

Journal Articles

 2021

Uncertainty-Constrained Differential Dynamic Programming in Belief Space for Vision Based Robots

Shatil Rahman, and Steven L. Waslander

IEEE Robotics and Automation Letters (Presentation at the IEEE International Conference on Robotics and Automation), 2021

Probabilistic Multi-View Fusion of Active Stereo Depth Maps for Robotic Bin-Picking

Jun Yang, Dong Li, and Steven L. Waslander

IEEE Robotics and Automation Letters (Presentation at the IEEE International Conference on Robotics and Automation), 2021

Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching

Justin Tomasi , Brandon Wagstaff , Steven L. Waslander, and Jonathan Kelly

IEEE Robotics and Automation Letters (Presentation at the IEEE International Conference on Robotics and Automation), 2021

2020

⦁ Making Sense of the Robotized Pandemic Response: A Comparison of Global and Canadian Robot Deployments and Success Factors

T Barfoot, J Burgner-Kahrs, E Diller, A Garg, A Goldenberg, J Kelly, X Liu, HE Naguib, G Nejat, AP Schoellig, F Shkurti, H Siegel, Y Sun, SL Waslander

arXiv preprint arXiv:2009.08577, 2020

 

⦁ Vehicle Scheduling Problem

Gharibi, Mirmojtaba, Steven L. Waslander, and Raouf Boutaba

IEEE Transactions on Intelligent Transportation Systems (Submitted), 2020

⦁ 3D traffic flow model for UAVs

Gharibi, Mirmojtaba, Raouf Boutaba, and Steven L. Waslander

IEEE Transactions on Intelligent Transportation Systems (Submitted), 2020

⦁ Controller Class for Rigid Body Tracking on SO (3)

Akhtar, Adeel, and Steven Waslander

IEEE Transactions on Automatic Control, 2020

⦁ Canadian Adverse Driving Conditions Dataset

Pitropov, Matthew, Danson Garcia, Jason Rebello, Michael Smart, Carlos Wang, Krzysztof Czarnecki, and Steven Waslander.

International Journal of Robotics Research, 2020

⦁ An end-to-end shape modeling framework for vectorized building outline generation from aerial images

Chen, Qi and Wang, Lei and Waslander, Steven L and Liu, Xiuguo

ISPRS Journal of Photogrammetry and Remote Sensing, 2020

⦁ Path Following for a Class of Underactuated Systems Using Global Parameterization

Akhtar, Adeel, Sajid Saleem, and Steven L. Waslander

IEEE Access, 2020

 

2019

Automated Bridge Inspection Using Mobile Ground Robotics

N. Charron, E. McLaughlin, S. Phillips, K. Goorts, S. Narasimhan, S. L. Waslander   

Journal of Structural Engineering, 2019

Multistep prediction of dynamic systems with recurrent neural networks    

N. Mohajerin and S. L. Waslander  

IEEE Transactions on Neural Networks and Learning Systems, 2019

Aerial imagery for roof segmentation: A large-scale dataset towards automatic mapping of buildings    

Q. Chen, L. Wang, Y. Wu, G. Wu, Z. Guo, and S. L. Waslander

ISPRS Journal of Photogrammetry and Remote Sensing 147, 42-55, 2019

Modeling transient response of nonlinear dynamic systems using recurrent neural networks    

N. Mohajerin and S. L. Waslander

IEEE Transactions on Neural Networks and Learning Systems, 2019
 

2018

Map-aided adaptive GNSS/IMU sensor fusion scheme for robust urban navigation 

M. M. Atia and S. L. Waslander  

Measurement, vol. 131, pp. 615–627, 2019.

Toward a more complete, flexible, and safer speed planning for autonomous driving via convex optimization    

Y. Zhang, H. Chen, S. Waslander, T. Yang, S. Zhang, G. Xiong, and K. Liu  

Sensors, vol. 18, no. 7, p. 2185, 2018

Hybrid trajectory planning for autonomous driving in highly constrained environments  

Y. Zhang, H.-Y. Chen, S. L. Waslander, J.-W. Gong, G.-M. Xiong, T. Yang, and K. Liu 

IEEE Access, vol. 6, pp. 32 800–32 819, 2018 

Conference Articles

2021

ROBI: A Multi-View Dataset for Reflective Objects in Robotic Bin-Picking  

Jun Yang, Yizhou Gao, Dong Li, and Steven L. Waslander

nternational Conference on Intelligent Robots and Systems (IROS), 2021.

Categorical Depth Distribution Network for Monocular 3D Object Detection  

Cody Reading, Ali Harakeh, Julia Chae, and Steven L. Waslander

Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR Oral), 2021.

Estimating and Evaluating Regression Predictive Uncertainty in Deep Object Detectors  

Ali Harakeh, Steven L. Waslander

International Conference on Learning Representations (ICLR), 2021.

2020

Feedback Linearizing Controllers on SO (3) using a Global Parametrization  

Akhtar, Adeel, Sajid Saleem, and Steven L. Waslander

American Control Conference (ACC), 2020

Leveraging Temporal Data for Automatic Labelling of Static Vehicles

Sean Walsh, Jason Ku, Alex D. Pon and S.L. Waslander   

Conference on Computer and Robot Vision (CRV), 2020

Towards End-to-end Learning of Visual Inertial Odometry with an EKF 

Chunshang Li and S.L. Waslander 

Conference on Computer and Robot Vision (CRV), 2020

Bayesod: A bayesian approach for uncertainty estimation in deep object detectors  

A. Harakeh, M. Smart, and S. L. Waslander         

International Conference on Robotics and Automation (ICRA), 2020       

Object-Centric Stereo Matching for 3D Object Detection    

A.D. Pon, J. Ku, C. Li, S.L. Waslander  

International Conference on Robotics and Automation (ICRA), 2020

AC/DCC : Accurate Calibration of Dynamic Camera Clusters for Visual SLAM    

J. Rebello, A. Fung, and S.L. Waslander        

International Conference on Robotics and Automation (ICRA), 2020

TruPercept: Trust Modelling for Autonomous Vehicle Cooperative Perception from Synthetic Data  

B. Hurl, R. Cohen, K. Czarnecki, S. L. Waslander.    

Intelligent Vehicles Conference, 2020

2019
 

aUToTrack: A Lightweight Object Detection and Tracking System for the SAE AutoDrive Challenge    

K. Burnett, S. Samavi, S. L. Waslander, T. D. Barfoot, A. P. Schoellig  

Conference on Computer and Robot Vision (CRV), 2019

Visual Measurement Integrity Monitoring for UAV Localization      

C.Li, S.L. Waslander   

IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2019

Improving 3D Object Detection for Pedestrians with Virtual Multi-View Synthesis Orientation Estimation    

J. Ku, A. D. Pon, S. Walsh, and S. L. Waslander     

International Conference on Intelligent Robots and Systems (IROS), 2019

Precise Synthetic Image and LiDAR (PreSIL) Dataset for Autonomous Vehicle Perception      

B. Hurl,  K. Czarnecki, S. Waslander      

IEEE Intelligent Vehicles Symposium (IV), 2019

Monocular 3D Object Detection Leveraging Accurate Proposals and Shape Reconstruction      

J. Ku*, A. D. Pon*, and S. L. Waslander    

IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2019.

Visual slam with network uncertainty informed feature selection      

P. Ganti and S. L. Waslander        

Conference on Computer and Robot Vision (CRV), 2019

2018

Unlimited road-scene synthetic annotation (URSA) dataset      

M. Angus, M. El Balkini, S. Khan, A. Harakeh, O. Andrienko, C. Reading, S. L. Waslander, and K. Czarnecki   

International Conference on Intelligent Transportation Systems (ITSC), 2018

Leveraging pre-trained 3d object detection models for fast ground truth generation   

J. Lee, S. Walsh, A. Harakeh, and S. L. Waslander

International Conference on Intelligent Transportation Systems (ITSC), 2018

Speed planning for autonomous driving via convex optimisation       

Y. Zhang, H. Chen, S. Waslander, T. Yang, S. Zhang, G. Xiong, and K. Liu

International Conference on Intelligent Transportation Systems (ITSC), 2018

Joint 3d proposal generation and object detection from view aggregation    

J. Ku, M. Mozifian, J. Lee, A. Harakeh, and S. L. Waslander       

International Conference on Intelligent Robots and Systems (IROS), 2018

De-noising of lidar point clouds corrupted by snowfall

N. Charron, S. Phillips, and S. L. Waslander   

Conference on Computer and Robot Vision (CRV), 2018

Encoderless gimbal calibration of dynamic multi-camera clusters     

C. L. Choi, J. Rebello, L. Koppel, P. Ganti, A. Das, and S. L. Waslander  

International Conference on Robotics and Automation (ICRA), 2018

Manifold geometry with fast automatic derivatives and coordinate frame semantics checking in c++      

L. Koppel and S. L. Waslander     

Conference on Computer and Robot Vision (CRV, Best Paper), 2018.

In defense of classical image processing: Fast depth completion on the cpu     

J. Ku, A. Harakeh, and S. L. Waslander   

Conference on Computer and Robot Vision (CRV), 2018

⦁ Deep learning a quadrotor dynamic model for multi-step prediction         

N. Mohajerin, M. Mozifian, and S. L. Waslander  

International Conference on Robotics and Automation (ICRA), 2018

A hierarchical deep architecture and mini-batch selection method for joint traffic sign and light detection     

A. Pon, O. Andrienko, A. Harakeh, and S. L. Waslander  

Conference on Computer and Robot Vision (CRV), 2018