Related papers: Modular Tracking Framework: A Unified Approach to …

The development of tabular foundation models (TFMs) has accelerated in recent years, showing strong potential to outperform traditional ML methods for structured data. A key finding is that TFMs can be pretrained entirely on synthetic…

Multitarget Tracking (MTT) is the problem of tracking the states of an unknown number of objects using noisy measurements, with important applications to autonomous driving, surveillance, robotics, and others. In the model-based Bayesian…

Multiple mobile manipulators show superiority in the tasks requiring mobility and dexterity compared with a single robot, especially when manipulating/transporting bulky objects. However, closed-chain of the system, redundancy of each…

This paper concerns the problem of multi-object tracking based on the min-cost flow (MCF) formulation, which is conventionally studied as an instance of linear program. Given its computationally tractable inference, the success of MCF…

Intelligent transportation system combines advanced information technology to provide intelligent services such as monitoring, detection, and early warning for modern transportation. Intelligent transportation detection is the cornerstone…

Fast and efficient collision detection is essential for motion generation in robotics. In this paper, we propose an efficient collision detection framework based on the Signed Distance Field (SDF) of robots, seamlessly integrated with a…

Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's…

Temporal motion modeling has always been a key component in multiple object tracking (MOT) which can ensure smooth trajectory movement and provide accurate positional information to enhance association precision. However, current motion…

Being able to track an anonymous object, a model-free tracker is comprehensively applicable regardless of the target type. However, designing such a generalized framework is challenged by the lack of object-oriented prior information. As…

In this paper, we propose a simple yet unified single object tracking (SOT) framework, dubbed SUTrack. It consolidates five SOT tasks (RGB-based, RGB-Depth, RGB-Thermal, RGB-Event, RGB-Language Tracking) into a unified model trained in a…

Multi-Target Multi-Camera Tracking (MTMCT) has broad applications and forms the basis for numerous future city-wide systems (e.g. traffic management, crash detection, etc.). However, the challenge of matching vehicle trajectories across…

Tracking any point (TAP) is a fundamental yet challenging task in computer vision, requiring high precision and long-term motion reasoning. Recent attempts to combine RGB frames and event streams have shown promise, yet they typically rely…

We propose FutrTrack, a modular camera-LiDAR multi-object tracking framework that builds on existing 3D detectors by introducing a transformer-based smoother and a fusion-driven tracker. Inspired by query-based tracking frameworks,…

Moving Morphable Component (MMC) based topology optimization approach is an explicit algorithm since the boundary of the entity explicitly described by its functions. Compared with other pixel or node point-based algorithms, it is optimized…

We developed a minimum-cost circulation framework for solving the global data association problem, which plays a key role in the tracking-by-detection paradigm of multi-object tracking. The global data association problem was extensively…

Graphs offer a natural way to formulate Multiple Object Tracking (MOT) within the tracking-by-detection paradigm. However, they also introduce a major challenge for learning methods, as defining a model that can operate on such…

We consider the problem of bridging the gap between geometric tracking control theory and implementation of model predictive control (MPC) for robotic systems operating on manifolds. We propose a generic on-manifold MPC formulation based on…

Transformer-based trackers have achieved strong accuracy on the standard benchmarks. However, their efficiency remains an obstacle to practical deployment on both GPU and CPU platforms. In this paper, to overcome this issue, we propose a…

The ability to build maps is a key functionality for the majority of mobile robots. A central ingredient to most mapping systems is the registration or alignment of the recorded sensor data. In this paper, we present a general methodology…

With more and more large-scale datasets available for training, visual tracking has made great progress in recent years. However, current research in the field mainly focuses on tracking generic objects. In this paper, we present TSFMO, a…