Related papers: Visibility-aware Trajectory Optimization with Appl…
UAVs equipped with a single depth camera encounter significant challenges in dynamic obstacle avoidance due to limited field of view and inevitable blind spots. While active vision strategies that steer onboard cameras have been proposed to…
In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…
A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined field of view and occluded line of sight. Meanwhile, the…
Visual Active Tracking (VAT) aims to control cameras to follow a target in 3D space, which is critical for applications like drone navigation and security surveillance. However, it faces two key bottlenecks in real-world deployment:…
Object tracking is a long standing problem in vision. While great efforts have been spent to improve tracking performance, a simple yet reliable prior knowledge is left unexploited: the target object in tracking must be an object other than…
Autonomous flight in unknown environments requires precise spatial and temporal trajectory planning, often involving computationally expensive nonconvex optimization prone to local optima. To overcome these challenges, we present the…
Crowd navigation has garnered considerable research interest in recent years, especially with the proliferating application of deep reinforcement learning (DRL) techniques. Many studies, however, do not sufficiently analyze the relative…
This paper presents a global trajectory optimization framework for minimizing lap time in autonomous racing under uncertain vehicle dynamics. Optimizing the trajectory over the full racing horizon is computationally expensive, and tracking…
Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…
Multi-Object Tracking, also known as Multi-Target Tracking, is a significant area of computer vision that has many uses in a variety of settings. The development of deep learning, which has encouraged researchers to propose more and more…
This paper addresses the problem of visual target tracking in scenarios where a pursuer may experience intermittent loss of visibility of the target. The design of a Switched Visual Tracker (SVT) is presented which aims to meet the…
We present a reward-predictive, model-based deep learning method featuring trajectory-constrained visual attention for local planning in visual navigation tasks. Our method learns to place visual attention at locations in latent image space…
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our…
To overcome the problem of occlusion in visual tracking, this paper proposes an occlusion-aware tracking algorithm. The proposed algorithm divides the object into discrete image patches according to the pixel distribution of the object by…
This paper presents a generalization of the trajectory general optimal sub-pattern assignment (GOSPA) metric for evaluating multi-object tracking algorithms that provide trajectory estimates with track-level uncertainties. This metric…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
Visual object tracking performance has been dramatically improved in recent years, but some severe challenges remain open, like distractors and occlusions. We suspect the reason is that the feature representations of the tracking targets…
Visual object tracking is essential to intelligent robots. Most existing approaches have ignored the online latency that can cause severe performance degradation during real-world processing. Especially for unmanned aerial vehicles (UAVs),…
The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while…
Visibility distance on the road pathway plays a significant role in road safety and in particular, has a clear impact on the choice of speed limits. Visibility distance is thus of importance for road engineers and authorities. While…