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Trustworthy Vehicle Localization with Deep Learning

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Research Question: How to Achieve Trust with Deep Learning for Vehicle Localization? 

Deep Learning is a powerful tool for perception and localization for autonomous vehicles. At the same time, deep learning programs are often black boxes, with complex networks that lead to opaque methods of decision making which may fail unexpectedly. We aim to provide trustworthiness and robustness alongside deep learning approaches, by training the deep learning network to learn the sensing uncertainties and by utilizing deep learning as an additional sensor processing tool. Furthermore, by integrating deep learning with model-driven approaches, we use the learned sensing uncertainty to better quantify pose estimation uncertainty and provide protection levels for guaranteed safe navigation.

Research Team: 

  • Adam Dai
  • Shubh Gupta
  • Ashwin Kanhere
  • Adyasha Mohanty
  • Akshay Shetty

Related Works: 

  • Adyasha Mohanty and Grace Gao, A Particle Filtering Framework for Tight GNSS-Camera Fusion using Convolutional Neural Networks, Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2021), St. Louis, MO, Sep 2021. [paper][slides] [video]
  • Ashwin V. Kanhere*, Shubh Gupta*, Akshay Shetty and Grace Gao, Improving GNSS Positioning using Neural Network-based CorrectionsProceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2021), St. Louis, MO, Sep 2021[paper] [slides] [video] [code]
  • Long Kiu Chung*, Adam Dai*, Derek Knowles, Shreyas Kousik and Grace Gao, Constrained Feedforward Neural Network Training via Reachability AnalysisRobotics: Science and Systems (RSS 2021) Robotics for People (R4P) Workshop, Jul 2021. [paper]
  • Shubh Gupta and Grace Gao, Data-Driven Protection Levels for Camera and 3D Map-based Safe Urban Localization, Navigation: Journal of the Institute of Navigation. vol. 68, no. 3, pp. 643-660, Sept. 2021. doi: 10.1002/navi.445. [paper]
  • Shubh Gupta and Grace X. Gao, Data-Driven Protection Levels for Camera and 3D Map-based Safe Urban Localization Proceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2020), St. Louis, MO, Sep 2020. [paper] [slides] [video]
  • Adyasha Mohanty, Shubh Gupta and Grace X. Gao, A Particle Filtering Framework for Integrity Risk of GNSS-Camera Sensor FusionProceedings of the Institute of Navigation GNSS+ conference (ION GNSS+ 2020), St. Louis, MO, Sep 2020. [paper][slides] [video] 
  • Akshay Shetty and Grace X. Gao, UAV Pose Estimation Using Cross-view Geolocalization with Satellite ImageryProceedings of the 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019. [paper] [video]