In one aspect, hierarchical image segmentation is applied to an image formed of a plurality of pixels, by classifying the pixels according to a hierarchical classification scheme, in which at least some of those pixels are classified by a parent level clas...

A computer-implemented method of evaluating the performance of a target planner for an ego robot in a real or simulated scenario, the method comprising:receiving evaluation data for evaluating the performance of the target planner in the scenario, the eval...

A computer-implemented method of planning a mobile robot trajectory, the method comprising: receiving a set of scenario description parameters describing a scenario and a desired goal for the mobile robot therein; computing, from the set of scenario descri...