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...