Autonomous Navigation in Dynamic Environments with Multi-Modal Perception Uncertainties
Hongliang Guo,Zefan Huang,Qiheng Ho,Marcelo Ang,Daniela Rus,Hongliang Guo,Zefan Huang,Qiheng Ho,Marcelo Ang,Daniela Rus
This paper addresses the safe path planning problem for autonomous mobility with multi-modal perception uncertainties. Specifically, we assume that different sensor inputs lead to different Gaussian process regulated perception uncertainties (named as multi-modal perception uncertainties). We implement a Bayesian inference algorithm, which merges the multi-modal GP-regulated uncertainties into a u...
