Related papers: The Smooth Trajectory Estimator for LMB Filters

Explainable recommendations help improve the transparency and credibility of recommendation systems, and play an important role in personalized recommendation scenarios. At present, methods for explainable recommendation based on large…

Making accurate motion prediction of surrounding agents such as pedestrians and vehicles is a critical task when robots are trying to perform autonomous navigation tasks. Recent research on multi-modal trajectory prediction, including…

Given a stream of Bernoulli random variables, consider the problem of estimating the mean of the random variable within a specified relative error with a specified probability of failure. Until now, the Gamma Bernoulli Approximation Scheme…

In this work, we present the \texttt{LLM ORDER BY} semantic operator as a logical abstraction and conduct a systematic study of its physical implementations. First, we propose several improvements to existing semantic sorting algorithms and…

We develop a novel human trajectory prediction system that incorporates the scene information (Scene-LSTM) as well as individual pedestrian movement (Pedestrian-LSTM) trained simultaneously within static crowded scenes. We superimpose a…

Trajectory Reconstruction (TR) is vital for accurately mapping movement patterns and validating analyses, especially in fields like robotics, biomechanics, and environmental tracking, where data might be missing or affected by outliers.…

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…

An underlying structure in several sampling-based methods for continuous multi-robot motion planning (MRMP) is the tensor roadmap (TR), which emerges from combining multiple PRM graphs constructed for the individual robots via a tensor…

Many path-finding algorithms on graphs such as A* are sped up by using a heuristic function that gives lower bounds on the cost to reach the goal. Aiming to apply similar techniques to speed up sampling-based motion-planning algorithms, we…

Long Short-Term Memory (LSTM) neural network models have become the cornerstone for sequential data modeling in numerous applications, ranging from natural language processing to time series forecasting. Despite their success, the problem…

Lagrangian Particle Tracking (LPT) enables practitioners to study various concepts in turbulence by measuring particle positions in flows of interest. This data is subject to measurement errors, and filtering techniques are applied to…

Deploying LLMs raises two coupled challenges: (1) monitoring--estimating where a model underperforms as traffic and domains drift--and (2) improvement--prioritizing data acquisition to close the largest performance gaps. We test whether an…

This paper considers multiple extended object tracking based on Poisson multi-Bernoulli mixture (PMBM) filtering, which gives the closed-form Bayesian solution for standard multiple extended object models with Poisson birth. To efficiently…

A very common way to estimate the parameters of a hidden Markov model (HMM) is the relatively straightforward computation of maximum likelihood (ML) estimates. For this task, most users rely on user-friendly implementation of the estimation…

Pedestrian trajectory prediction is an essential and challenging task for a variety of real-life applications such as autonomous driving and robotic motion planning. Besides generating a single future path, predicting multiple plausible…

In this work we propose an approximate Minimum Mean-Square Error (MMSE) filter for linear dynamic systems with Gaussian Mixture noise. The proposed estimator tracks each component of the Gaussian Mixture (GM) posterior with an individual…

Integrating natural language (NL) prompts into robotic mission planning has attracted significant interest in recent years. In the construction domain, Building Information Models (BIM) encapsulate rich NL descriptions of the environment.…

Model ensembling is a well-established technique for improving the performance of machine learning models. Conventionally, this involves averaging the output distributions of multiple models and selecting the most probable label. This idea…

In this work, we present a study on ways that tracking algorithms can be improved with machine learning (ML). We base this study on the line segment tracking (LST) algorithm that we have designed to be naturally parallelized and vectorized…

This paper shows that the Levenberg-Marquardt Algorithms (LMA) algorithms can be merged into the Gauss Newton Filters (GNF) to track difficult, non-linear trajectories, without divergence. The GNF discusssed in this paper is an iterative…