Related papers: MPM: Joint Representation of Motion and Position M…
This paper proposes a form of MPC in which the control variables are moved asynchronously. This contrasts with most MIMO control schemes, which assume that all variables are updated simultaneously. MPC outperforms other control strategies…
Robust and accurate six degree-of-freedom tracking on portable devices remains a challenging problem, especially on small hand-held devices such as smartphones. For improved robustness and accuracy, complementary movement information from…
Dual-arm mobile manipulators can transport and manipulate large-size objects with simple end-effectors. To interact with dynamic environments with strict safety and compliance requirements, achieving whole-body motion planning online while…
The process of association and tracking of sensor detections is a key element in providing situational awareness. When the targets in the scenario are dense and exhibit high maneuverability, Multi-Target Tracking (MTT) becomes a challenging…
In this paper, we address various challenges in multi-pedestrian and vehicle tracking in high-resolution aerial imagery by intensive evaluation of a number of traditional and Deep Learning based Single- and Multi-Object Tracking methods. We…
This paper introduces MMW-Carry, a system designed to predict the probability of individuals carrying various objects using millimeter-wave radar signals, complemented by camera input. The primary goal of MMW-Carry is to provide a rapid and…
This paper proposes a novel metric for Human Motion Prediction (HMP). Since a single past sequence can lead to multiple possible futures, a probabilistic HMP method predicts such multiple motions. While a single motion predicted by a…
This letter addresses the detection problem of dim maneuvering targets in the presence of range cell migration. Specifically, it is assumed that the moving target can appear in more than one range cell within the transmitted pulse train.…
With vast mmWave spectrum and narrow beam antenna technology, precise position location is now possible in 5G and future mobile communication systems. In this article, we describe how centimeterlevel localization accuracy can be achieved,…
The ability for an autonomous agent or robot to track and identify potentially multiple objects in a dynamic environment is essential for many applications, such as automated surveillance, traffic monitoring, human-robot interaction, etc.…
In recent decades, due to the groundbreaking improvements in machine vision, many daily tasks are performed by computers. One of these tasks is multiple-vehicle tracking, which is widely used in different areas such as video surveillance…
Wide Area Motion Imagery (WAMI) yields high-resolution images with a large number of extremely small objects. Target objects have large spatial displacements throughout consecutive frames. This nature of WAMI images makes object tracking…
In this paper, we develop an algorithm for joint handover and beam tracking in millimeter-wave (mmWave) networks. The aim is to provide a reliable connection in terms of the achieved throughput along the trajectory of the mobile user while…
What if our clothes could capture our body motion accurately? This paper introduces Flexible Inertial Poser (FIP), a novel motion-capturing system using daily garments with two elbow-attached flex sensors and four Inertial Measurement Units…
Catching flying objects with a cushioning process is a skill commonly performed by humans, yet it remains a significant challenge for robots. In this paper, we present a framework that combines optimization and learning to achieve compliant…
Analyzing the dynamic changes of cellular morphology is important for understanding the various functions and characteristics of live cells, including stem cells and metastatic cancer cells. To this end, we need to track all points on the…
Tracking people in a video sequence is one of the fields of interest in computer vision. It has broad applications in motion capture and surveillance. However, due to the complexity of human dynamic structure, detecting and tracking are not…
Multi-camera Association (MCA) is the task of identifying objects and individuals across camera views and is an active research topic, given its numerous applications across robotics, surveillance, and agriculture. We investigate a novel…
Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical…
This paper addresses multi-object systems, where objects may occlude one another relative to the sensor. The standard point-object model for detection-based sensors is enhanced so that the probability of detection considers the presence of…