Related papers: DIMM: Decoupled Multi-hierarchy Kalman Filter for …
This paper presents an implementation and evaluation of a Distributed Kalman--Consensus Filter (DKCF) for Multi-Object Tracking (MOT) in mobile robot networks operating under partial observability and heterogeneous localization uncertainty.…
Multiple Object Tracking (MOT) is an important task in computer vision. MOT is still challenging due to the occlusion problem, especially in dense scenes. Following the tracking-by-detection framework, we propose the Box-Plane Matching…
Due to the lack of depth information of images and poor detection accuracy in monocular 3D object detection, we proposed the instance depth for multi-scale monocular 3D object detection method. Firstly, to enhance the model's processing…
Self-supervised methods have showed promising results on depth estimation task. However, previous methods estimate the target depth map and camera ego-motion simultaneously, underusing multi-frame correlation information and ignoring the…
Model merging enables the reuse of fine-tuned models without joint training or access to original data. Dynamic merging further improves flexibility by selectively activating task-relevant parameters and efficiently composing experts across…
Monocular 3D object detection poses a significant challenge due to the lack of depth information in RGB images. Many existing methods strive to enhance the object depth estimation performance by allocating additional parameters for object…
In this paper, we propose a highly accurate continuous-time trajectory estimation framework dedicated to SLAM (Simultaneous Localization and Mapping) applications, which enables fuse high-frequency and asynchronous sensor data effectively.…
State estimation for legged robots remains challenging because legged odometry generally suffers from limited observability and therefore depends critically on measurement constraints to suppress drift. When exteroceptive sensors are…
Visual pedestrian tracking represents a promising research field, with extensive applications in intelligent surveillance, behavior analysis, and human-computer interaction. However, real-world applications face significant occlusion…
Skid-steered wheel mobile robots (SSWMRs) operate in a variety of outdoor environments exhibiting motion behaviors dominated by the effects of complex wheel-ground interactions. Characterizing these interactions is crucial both from the…
The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios including autonomous driving, multi-robot collaboration and…
In autonomous driving, Vehicle-Infrastructure Cooperative 3D Object Detection (VIC3D) makes use of multi-view cameras from both vehicles and traffic infrastructure, providing a global vantage point with rich semantic context of road…
The Linear Parameter Varying Dynamical System (LPV-DS) is an effective approach that learns stable, time-invariant motion policies using statistical modeling and semi-definite optimization to encode complex motions for reactive robot…
This paper presents a novel real-time tracking system capable of improving body pose estimation algorithms in distributed camera networks. The first stage of our approach introduces a linear Kalman filter operating at the body joints level,…
In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…
In this paper, we propose the LiDAR Distillation to bridge the domain gap induced by different LiDAR beams for 3D object detection. In many real-world applications, the LiDAR points used by mass-produced robots and vehicles usually have…
The field of multi-object tracking has recently seen a renewed interest in the good old schema of tracking-by-detection, as its simplicity and strong priors spare it from the complex design and painful babysitting of tracking-by-attention…
Recent advances in autonomous driving have underscored the importance of accurate 3D object detection, with LiDAR playing a central role due to its robustness under diverse visibility conditions. However, different vehicle platforms often…
Removing camera motion blur from a single light field is a challenging task since it is highly ill-posed inverse problem. The problem becomes even worse when blur kernel varies spatially due to scene depth variation and high-order camera…
We present the first work demonstrating that a pure Mamba block can achieve efficient Dense Global Fusion, meanwhile guaranteeing top performance for camera-LiDAR multi-modal 3D object detection. Our motivation stems from the observation…