ITS Publications

ITS Group

  • ITS Research Lab. ITS Magazine (2019). The ACFR Centre: ITS Group. Intelligent Transportation System Magazine, 2019.
  • W. Zhou, JS. Berrio, et al., 2020,  Developing and Testing Robust Autonomy: The University of Sydney Campus Data Set, IEEE Intelligent Transportation Systems Magazine, vol. 12, no. 4, pp. 23-40, winter 2020, doi: 10.1109/MITS.2020.2990183.
    • Paper

Path Planning

  • Narula, K., Worrall, S., Nebot, E. (2020) Two-Level Hierarchical Planning in a Known Semi-Structured Environment. IEEE International Conference on Intelligent Transportation Systems (ITSC 2020).
    • Paper

Safety

  • Karunakaran, D., Worrall, S., & Nebot, E. (2020). Efficient statistical validation with edge cases to evaluate Highly Automated Vehicles. 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC), 1-8.
    • Paper

Perception

Calibration

  • Verma, S., Berrio Perez, J., Worrall, S.., Nebot, E. (2019). Automatic extrinsic calibration between a camera and a 3D Lidar using 3D point and plane correspondences. IEEE 22nd International Conference on Intelligent Transportation Systems (IEEE ITSC 2019), Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE).
    • Paper
    • Video
    • Code
  • De Alvis, C., Shan, M., Worrall, S., Nebot, E. (2019) Uncertainty Estimation for Projecting Lidar Points onto Camera Images for Moving PlatformsIEEE International Conference on Robotics and Automation (ICRA 2019).
    • Paper

Sensor Fusion

  • Berrio Perez, J., Ward, J., Worrall, S., Zhou, W., Nebot, E. (2017). Fusing Lidar and Semantic Image Information in Octree Maps. Australasian Conference on Robotics and Automation (ACRA 2017), Sydney: Australian Robotics and Automation Association (ARAA).
    • Paper
    • Video
  • Berrio Perez, J., Zhou, W., Ward, J., Worrall, S., Nebot, E. (2018). Octree map based on sparse point cloud and heuristic probability distribution for labeled images. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Piscataway: Institute of Electrical and Electronics Engineers (IEEE).
    • Paper
    • Video
  • M. Shan, J. S. Berrio, S. Worrall and E. Nebot, (2020), Probabilistic Egocentric Motion Correction of Lidar Point Cloud and Projection to Camera Images for Moving Platforms, 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC), Rhodes, Greece, pp. 1-8, doi: 10.1109/ITSC45102.2020.9294601.
    • Paper

Semantic Segmentation

  • Zhou, W., Arroyo, R., Zyner, A., Ward, J., Worrall, S., Nebot, E., Bergasa, L. (2017). Transferring visual knowledge for a robust road environment perception in intelligent vehicles. IEEE 20th International Conference on Intelligent Transportation Systems (IEEE ITSC 2017), Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE).
    • Paper
  • Zhou, W., Worrall, S., Zyner, A., Nebot, E. (2018). Automated Process for Incorporating Drivable Path into Real-time Semantic Segmentation. IEEE International Conference on Robotics and Automation (ICRA 2018), Brisbane: Institute of Electrical and Electronics Engineers (IEEE).
    • Paper
    • Video
  • Zhou, W., Zyner, A., Worrall, S., Nebot, E. (2019). Adapting Semantic Segmentation Models for Changes in Illumination and Camera Perspective. IEEE Robotics and Automation Letters, 4(2), 461-468.
    • Paper
  • Zhou, W., Berrio, J.S., Worrall, S. and Nebot, E., (2019). Automated Evaluation of Semantic Segmentation Robustness for Autonomous Driving. IEEE Transactions on Intelligent Transportation Systems. 
    • Paper

Detection

  • Gomez-Donoso, E. Cruz, M. Cazorla, S. Worrall and E. Nebot, 2020, Using a 3D CNN for Rejecting False Positives on Pedestrian Detection, 2020 International Joint Conference on Neural Networks (IJCNN), Glasgow, UK, pp. 1-6, doi: 10.1109/IJCNN48605.2020.9207432.

    • Paper

Classification

  • Zhou, Wei & Cruz, Edmanuel & Worrall, Stewart & Gomez-Donoso, Francisco & Cazorla, Miguel & Nebot, Eduardo. (2020). Weakly-supervised Road Condition Classification Using Automatically Generated Labels. 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC) 1-7. 10.1109/ITSC45102.2020.9294207.
    • Paper

Collaborative Perception

  • Shan, M.; Narula, K.; Wong, Y.F.; Worrall, S.; Khan, M.; Alexander, P.; Nebot, E. (2021) Demonstrations of Cooperative Perception: Safety and Robustness in Connected and Automated Vehicle Operations. Sensors 2021, 21, 200. https://doi.org/10.3390/s21010200
    • Paper

Tracking and prediction

  • Konrad, S., Shan, M., Masson, F., Worrall, S., Nebot, E. (2018). Pedestrian Dynamic and Kinematic Information Obtained from Vision Sensors. 29th IEEE Intelligent Vehicle Symposium, Piscataway: Institute of Electrical and Electronics Engineers (IEEE).
    • Paper
  • Gerling Konrad, S., Masson, F., Nebot, E. (2018). Analysis of accuracy of pedestrian inertial data obtained from cameras images. IEEE Biennial Congress of Argentina (ARGENCON 2018), San Miguel de Tucuman: Institute of Electrical and Electronics Engineers (IEEE).
    • Paper
  • Eiffert, S., Li, K., Shan, M., Worrall, S., Sukkarieh, S., Nebot, E. (2020) Probabilistic Crowd GAN: Multimodal Pedestrian Trajectory Prediction Using a Graph Vehicle-Pedestrian Attention Network. IEEE Robotics and Automation Letters.
    • Paper
  • Li, K., Shan, M., Narula, K., Worrall, S., Nebot, E. (2020) Socially Aware Crowd Navigation with Multimodal Pedestrian Trajectory Prediction for Autonomous Vehicles. IEEE International Conference on Intelligent Transportation Systems (ITSC 2020).
    • Paper
  • Shan, M., De Alvis, C., Worrall, S., Nebot, E. (2019) Extended Vehicle Tracking with Probabilistic Spatial Relation Projection and Consideration of Shape Feature Uncertainties. The 30th IEEE Intelligent Vehicles Symposium (IV 2019).
    • Paper

Driver Intention

  • Zyner, A., Worrall, S., Ward, J., Nebot, E. (2017). Long Short Term Memory for Driver Intent Prediction. 28th IEEE Intelligent Vehicles Symposium (IV 2017), Piscataway: Institute of Electrical and Electronics Engineers (IEEE).
    • Paper
  • Zyner, A., Worrall, S., Nebot, E. (2018). A Recurrent Neural Network Solution for Predicting Driver Intention at Unsignalized Intersections. IEEE Robotics and Automation Letters, 3(3), 1759-1764.
    • Paper
  • Zyner, A., Worrall, S., & Nebot, E. (2019). Naturalistic driver intention and path prediction using recurrent neural networks. IEEE Transactions on Intelligent Transportation Systems.
    • Paper
  • Zyner, A., Worrall, S., & Nebot, E. (2019). ACFR Five Roundabouts Dataset: Naturalistic Driving at Unsignalised Intersections.
    IEEE Intelligent Transportation Systems Magazine, vol. 11, no. 4, pp. 8-18, winter 2019. doi: 10.1109/MITS.2019.2907676

    • Early Access Paper
    • Dataset
  • Bender A., Agamennoni G., Worrall, S., Ward, J., Nebot, E. (2017). An Unsupervised Approach for Inferring Driver Behavior From Naturalistic Driving Data. IEEE Transactions on Intelligent Transport Systems, 2019.
    • Paper

Localisation and Mapping

Localisation

  • Yi, Siqi, Stewart Worrall, and Eduardo Nebot. Metrics for the Evaluation of localisation Robustness. In 30th IEEE Intelligent Vehicles Symposium (IV 2019), (IEEE).
    • Paper
  • Yi, Siqi, Stewart Worrall, and Eduardo Nebot. Geographical Map Registration and Fusion of Lidar-Aerial Orthoimagery in GIS2019 IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand, 2019, pp. 128-134. doi: 10.1109/ITSC.2019.8917305
    • Paper

Map Maintenance

  • Introduction video
  • Berrio Perez, J., Ward, J., Worrall, S., Nebot, E. (2019). Identifying robust landmarks in feature-based maps. 2019 IEEE Intelligent Vehicles Symposium (IV), Paris, France, 2019, pp. 1166-1172.
    doi: 10.1109/IVS.2019.8814289

    • Paper
  • Berrio Perez, J., Ward, J., Worrall, S., Nebot, E. (2019). Updating the visibility of a feature-based map for long-term maintenance. 30th IEEE Intelligent Vehicles Symposium (IV 2019), Piscataway: Institute of Electrical and Electronics Engineers (IEEE).
    • Paper
    • Video

Human-machine Interfaces

  • Hoggenmüller, Marius & Tomitsch, Martin & Hespanhol, Luke & Tran, Tram & Worrall, Stewart & Nebot, Eduardo. (2021). Context-Based Interface Prototyping: Understanding the Effect of Prototype Representation on User Feedback. 10.1145/3411764.3445159. .
    • Paper
  • Hoggenmüller, Marius & Tomitsch, Martin & Parker, Callum & Nguyen, Trung & Zhou, Dawei & Worrall, Stewart & Nebot, Eduardo. (2020). A Tangible Multi-Display Toolkit to Support the Collaborative Design Exploration of AV Pedestrian Interfaces. 10.1145/3441000.3441031.
    • Paper