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Execution monitoring is essential for robots to detect and respond to failures. Since it is impossible to enumerate all failures for a given task, we learn from successful executions of the task to detect visual anomalies during runtime.…

Human actions often involve complex interactions across several inter-related objects in the scene. However, existing approaches to fine-grained video understanding or visual relationship detection often rely on single object representation…

Most end-to-end Multi-Object Tracking (MOT) methods face the problems of low accuracy and poor generalization ability. Although traditional filter-based methods can achieve better results, they are difficult to be endowed with optimal…

The human ability to detect and segment moving objects works in the presence of multiple objects, complex background geometry, motion of the observer, and even camouflage. In addition to all of this, the ability to detect motion is nearly…

The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…

Active 3D reconstruction of moving objects requires selecting informative viewpoints while accounting for object motion uncertainty during the decision-to-execution delay. Existing methods address only parts of this problem: next-best-view…

This paper introduces a novel weighted unsupervised learning for object detection using an RGB-D camera. This technique is feasible for detecting the moving objects in the noisy environments that are captured by an RGB-D camera. The main…

3D single object tracking with LiDAR points is an important task in the computer vision field. Previous methods usually adopt the matching-based or motion-centric paradigms to estimate the current target status. However, the former is…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

Photomechanics is a crucial branch of solid mechanics. The localization of point targets constitutes a fundamental problem in optical experimental mechanics, with extensive applications in various missions of UAVs. Localizing moving targets…

Recent advances of monocular 3D object detection facilitate the 3D multi-object tracking task based on low-cost camera sensors. In this paper, we find that the motion cue of objects along different time frames is critical in 3D multi-object…

Collaborative object localization aims to collaboratively estimate locations of objects observed from multiple views or perspectives, which is a critical ability for multi-agent systems such as connected vehicles. To enable collaborative…

Visual object tracking (VOT) is an essential component for many applications, such as autonomous driving or assistive robotics. However, recent works tend to develop accurate systems based on more computationally expensive feature…

In this work, we bridge the gap between recent pose estimation and tracking work to develop a powerful method for robots to track objects in their surroundings. Motion-Nets use a segmentation model to segment the scene, and separate…

3D multi-object tracking (MOT) is an essential component for many applications such as autonomous driving and assistive robotics. Recent work on 3D MOT focuses on developing accurate systems giving less attention to practical considerations…

Multi-object tracking (MOT) enables mobile robots to perform well-informed motion planning and navigation by localizing surrounding objects in 3D space and time. Existing methods rely on depth sensors (e.g., LiDAR) to detect and track…

Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…

With the recent advances in the object detection research field, tracking-by-detection has become the leading paradigm adopted by multi-object tracking algorithms. By extracting different features from detected objects, those algorithms can…

Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…