Related papers: Research on dynamic target detection and tracking …
Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…
Recent visual object tracking methods have witnessed a continuous improvement in the state-of-the-art with the development of efficient discriminative correlation filters (DCF) and robust deep neural network features. Despite the…
Accurate detection and tracking of objects is vital for effective video understanding. In previous work, the two tasks have been combined in a way that tracking is based heavily on detection, but the detection benefits marginally from the…
Target detection is pivotal for modern urban computing applications. While image-based techniques are widely adopted, they falter under challenging environmental conditions such as adverse weather, poor lighting, and occlusion. To improve…
Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…
Discriminative Correlation Filters based tracking algorithms exploiting conventional handcrafted features have achieved impressive results both in terms of accuracy and robustness. Template handcrafted features have shown excellent…
It is of great challenge, though promising, to coordinate collective robots for hunting an evader in a decentralized manner purely in light of local observations. In this paper, this challenge is addressed by a novel hybrid cooperative…
LADARs mounted on mobile platforms produce a wealth of precise range data on the surrounding objects and vehicles. The challenge we address is to infer from these raw LADAR data the location and orientation of nearby vehicles. We propose a…
We consider a scenario where a team of robots with heterogeneous sensors must track a set of hostile targets which induce sensory failures on the robots. In particular, the likelihood of failures depends on the proximity between the targets…
In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…
Most existing Multi-Object Tracking (MOT) approaches follow the Tracking-by-Detection paradigm and the data association framework where objects are firstly detected and then associated. Although deep-learning based method can noticeably…
Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
This paper presents the implementation of a perceptual system for a mobile robot. The system is designed and installed with modern sensors and multi-point communication channels. The goal is to equip the robot with a high level of…
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…
On the journey to enable robots to interact with the real world where humans, animals, and unpredictable elements are acting as independent agents; it is crucial for robots to have the capability to detect dynamic objects. In this paper, we…
Visual object tracking is one of the major challenges in the field of computer vision. Correlation Filter (CF) trackers are one of the most widely used categories in tracking. Though numerous tracking algorithms based on CFs are available…
This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…
Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…
This work is devoted to the problem of distributed target tracking when a team of robots detect the target through a variable perception-latency mechanism. A reference for the robots to track is constructed in terms of a desired formation…