Javier Ibanez Guzman

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— As an increasing number of automatic safety and navigation features are added to modern vehicles, the crucial job of providing real-time localisation is predominantly performed by a single sensor, GPS, despite its well-known failings, particularly in urban environments. Various attempts have been made to supplement GPS to improve localisation performance,(More)
— A robust vehicle following system with obstacle avoidance capabilities for operation in natural environments is described in this paper. By combining a novel vehicle-tracking and detection algorithm with our path-planner for autonomous navigation, it was possible for a tracked Logistics Armoured Ambulance Carrier to follow a multi purpose vehicle in an(More)
In an obstacle filled environment, path planning solutions that use accurate Global Positioning System (GPS) coordinates of obstacles need to reconsider the inaccuracies of positioning when the differential GPS is not available. Typical GPS positioning systems operating without the differential component, are able to provide a default Central Error(More)
— Intersections are the most complex and hazardous areas of the road network, and 89% of accidents at intersection are caused by driver error. We focus on these accidents and propose a novel approach to risk assessment: in this work dangerous situations are identified by detecting conflicts between intention and expectation, i.e. between what drivers intend(More)
—Safety applications at road intersections require algorithms that can estimate the manoeuvre intention of all the drivers in the scene. In this paper, the use of contextual information extracted from a digital map of the road network is explored. We propose a Bayesian network which combines probabilistically uncertain observations on the vehicle's(More)
—Navigating through a road intersection is a complex manoeuvre that requires understanding the spatio-temporal relationships that exist between vehicles. Situation understanding and prediction are therefore fundamental functions for any computer-controlled safety or navigation system applied to road intersections. To interpret the situation at an(More)
— Estimating the pose in real-time is a primary function for intelligent vehicle navigation. Whilst different solutions exist, most of them rely on the use of high-end sensors. This paper proposes a solution that exploits an automotive type L1-GPS receiver, features extracted by low-cost perception sensors and vehicle proprioceptive information. A key idea(More)
— A good localization ability is essential for an autonomous vehicle to perform any functions. For ground vehicles operating in outdoor, uneven and unstructured environments , the localization task becomes much more difficult than in indoor environments. In urban or forest environments where high buildings or tall trees exist, GPS sensors also fail easily.(More)