In Proximity of ReLU DNN, PWA Function, and Explicit MPC

no code implementations • 9 Jun 2020 • Saman Fahandezh-Saadi, Masayoshi Tomizuka

Rectifier (ReLU) deep neural networks (DNN) and their connection with piecewise affine (PWA) functions is analyzed.

Model Predictive Control

UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes

no code implementations • 19 Dec 2019 • Weisong Wen, Yiyang Zhou, Guohao Zhang, Saman Fahandezh-Saadi, Xiwei Bai, Wei Zhan, Masayoshi Tomizuka, Li-Ta Hsu

Mapping and localization is a critical module of autonomous driving, and significant achievements have been reached in this field.

Autonomous Driving Point Cloud Registration

Robust Feature-Based Point Registration Using Directional Mixture Model

no code implementations • 25 Nov 2019 • Saman Fahandezh-Saadi, Di Wang, Masayoshi Tomizuka

This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i. e. rotation matrix and translation vector) between two pointcloud dataset.

Translation