Author

Catherine M. Elias

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Preprint Jul 2026

Implementation of Tightly-Coupled SLAM Fusion of GPS, IMU, and LiDAR for Autonomous Vehicles

Autonomous vehicles depend entirely on Simultaneous Localization and Mapping (SLAM) to navigate safely in unknown environments. However, relying on a single sensory modality introduces critical failure points: LiDAR systems degrade in featureless corridors, Inertial Measurement Units (IMUs) accumulate mathematical drif...

Amr O. Elmehrath, Farah Khaled, Rana Nahas et al. · 0 citations

#artificial intelligence Preprint Jul 2026

LLM-Guided Transformation of Non-Critical Driving Scenes into Safety-Critical Scenarios Using Augmented Reality

An automated pipeline is presented that transforms safe driving scenes into safety-critical scenarios by combining computer vision, Large Language Models (LLMs), and Augmented Reality (AR) to support the testing and validation of autonomous driving systems.

Noura Fady, Farah Khaled, Catherine M. Elias · 0 citations

2026

A Semantic Knowledge Graph Construction Pipeline for Vehicle Intention Prediction in nuScenes

NIKG occupies the space between scene-oriented traffic KGs and intention-prediction models: a small, explicit semantic layer intended to support downstream work such as knowledge graph embedding, SPARQL-based feature extraction, or hybrid neuro-symbolic reasoning.

Khaled Nowara, Mohamed A. Manzour, Catherine M. Elias · SKILLED-LLMs@FLoC · 0 citations

Jul 2026

INTENT: An LSTM Framework for Vehicle Intention Prediction in Intersection Scenarios with Comprehensive Ablation Analysis

The INTENT framework is proposed using LSTM model to predict the vehicle's intention at intersections 2 seconds ahead of the event occurrence to predict whether the cars in intersections are going straight, turning left, or turning right.

Logine M. Zaki, Catherine M. Elias · arXiv.org · 0 citations