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Moving objects are frequently seen in daily life and usually appear blurred in images due to their motion. While general object retrieval is a widely explored area in computer vision, it primarily focuses on sharp and static objects, and…
This thesis provides an in-depth structural analysis and efficient algorithmic solutions for tabletop object rearrangement with overhand grasps (TORO), a foundational task in advancing intelligent robotic manipulation. Rearranging multiple…
Transient faults corrupt the content and organization of data structures. A recovery technique dealing with such faults is stabilization, which guarantees, following some number of operations on the data structure, that content of the data…
A location and tracking system becomes very important to our future world of pervasive computing. An algorithm for accurate location information is being incorporated in the human walking model and in the blind human walking model. We want…
In this paper, a general moving object trajectories framework is put forward to allow independent applications processing trajectories data benefit from a high level of interoperability, information sharing as well as an efficient answer…
We present methods for repairing traces against specifications given as temporal behavior trees (TBT). TBT are a specification formalism for action sequences in robotics and cyber-physical systems, where specifications of sub-behaviors,…
Identifying significant location categories visited by mobile users is the key to a variety of applications. This is an extremely challenging task due to the possible deviation between the estimated location coordinate and the actual…
We study algorithms for matching user tracks, consisting of time-ordered location points, to paths in the road network. Previous work has focused on the scenario where the location data is linearly ordered and consists of fairly dense and…
One-stage object detectors are trained by optimizing classification-loss and localization-loss simultaneously, with the former suffering much from extreme foreground-background class imbalance issue due to the large number of anchors. This…
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…
Tracking-by-detection approaches are some of the most successful object trackers in recent years. Their success is largely determined by the detector model they learn initially and then update over time. However, under challenging…
Multiple object tracking faces several challenges that may be alleviated with trajectory information. Knowing the posterior locations of an object helps disambiguating and solving situations such as occlusions, re-identification, and…
Multiple Object Tracking (MOT) focuses on modeling the relationship of detected objects among consecutive frames and merge them into different trajectories. MOT remains a challenging task as noisy and confusing detection results often…
Mitigating positional bias of language models (LMs) for listwise inputs is a well-known and important problem (e.g., lost-in-the-middle). While zero-shot order-invariant LMs have been proposed to solve this issue, their success on practical…
Modern multi-object tracking (MOT) systems usually model the trajectories by associating per-frame detections. However, when camera motion, fast motion, and occlusion challenges occur, it is difficult to ensure long-range tracking or even…
A classical reduced order model for dynamical problems involves spatial reduction of the problem size. However, temporal reduction accompanied by the spatial reduction can further reduce the problem size without losing accuracy much, which…
We study stochastic routing in the PAth-CEntric (PACE) uncertain road network model. In the PACE model, uncertain travel times are associated with not only edges but also some paths. The uncertain travel times associated with paths are able…
Autonomous robots are commonly tasked with the problem of area exploration and search for certain targets or artifacts of interest to be tracked. Traditionally, the problem formulation considered is that of complete search and thus -…
This paper develops an algorithmic framework for tracking fixed points of time-varying contraction mappings. Analytical results for the tracking error are established for the cases where: (i) the underlying contraction self-map changes at…
The presence of temporal correlations in random movement trajectories is a widespread phenomenon across biological, chemical and physical systems. The ubiquity of persistent and anti-persistent motion in many natural and synthetic systems…