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We present MOTLEE, a distributed mobile multi-object tracking algorithm that enables a team of robots to collaboratively track moving objects in the presence of localization error. Existing approaches to distributed tracking make limiting…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
In this work, we explore the correlation between people trajectories and their head orientations. We argue that people trajectory and head pose forecasting can be modelled as a joint problem. Recent approaches on trajectory forecasting…
We propose a novel top-down approach that tackles the problem of multi-person human pose estimation and tracking in videos. In contrast to existing top-down approaches, our method is not limited by the performance of its person detector and…
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…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
Human mobility patterns deeply affect the dynamics of many social systems. In this paper, we empirically analyze the real-world human movements based GPS records, and observe rich scaling properties in the temporal-spatial patterns as well…
We are concerned with retrieving a query person from multiple videos captured by a non-overlapping camera network. Existing methods often rely on purely visual matching or consider temporal constraints but ignore the spatial information of…
An understanding of pedestrian dynamics is indispensable for numerous urban applications including the design of transportation networks and planing for business development. Pedestrian counting often requires utilizing manual or technical…
Occlusion is a long-standing problem that causes many modern tracking methods to be erroneous. In this paper, we address the occlusion problem by exploiting the current and future possible locations of the target object from its past…
Tracking objects with persistence in cluttered and dynamic environments remains a difficult challenge for computer vision systems. In this paper, we introduce $\textbf{TCOW}$, a new benchmark and model for visual tracking through heavy…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
3D panoramic multi-person localization and tracking are prominent in many applications, however, conventional methods using LiDAR equipment could be economically expensive and also computationally inefficient due to the processing of point…
One of the hardest challenges to face in the development of a non GPS-based localization system for autonomous vehicles is the changes of the environment. LiDAR-based systems typically try to match the last measurements obtained with a…
Everyday locomotion is a complex sensorimotor process that can unfold over multiple timescales, from long-term path planning to rapid, reactive adjustments. However, we lack an understanding of how factors such as environmental demands, or…
The growing need for video surveillance in public spaces has created a demand for systems that can track individuals across multiple cameras feeds in real-time. While existing tracking systems have achieved impressive performance using deep…
Conventional multi-object tracking (MOT) systems are predominantly designed for pedestrian tracking and often exhibit limited generalization to other object categories. This paper presents a generalized tracking framework capable of…
The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…
Autonomous robotic systems operating in human environments must understand their surroundings to make accurate and safe decisions. In crowded human scenes with close-up human-robot interaction and robot navigation, a deep understanding…
Robotic detection of people in crowded and/or cluttered human-centered environments including hospitals, long-term care, stores and airports is challenging as people can become occluded by other people or objects, and deform due to…