Related papers: SPOT: Sensing-augmented Trajectory Planning via Ob…
Multi-object tracking (MOT) has important applications in monitoring, logistics, and other fields. This paper develops a real-time multi-object tracking and prediction system in rugged environments. A 3D object detection algorithm based on…
Referring Multi-Object Tracking (RMOT) aims to achieve precise object detection and tracking through natural language instructions, representing a fundamental capability for intelligent robotic systems. However, current RMOT research…
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…
A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
In this paper we present a robust tracker to solve the multiple object tracking (MOT) problem, under the framework of tracking-by-detection. As the first contribution, we innovatively combine single object tracking (SOT) algorithms with…
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…
Challenges in traversing dynamic clutters lie mainly in the efficient perception of the environmental dynamics and the generation of evasive behaviors considering obstacle movement. Previous solutions have made progress in explicitly…
The problem of multi-object tracking (MOT) consists in detecting and tracking all the objects in a video sequence while keeping a unique identifier for each object. It is a challenging and fundamental problem for robotics. In precision…
Autonomous exploration is one of the important parts to achieve the autonomous operation of Unmanned Aerial Vehicles (UAVs). To improve the efficiency of the exploration process, a fast and autonomous exploration planner (FAEP) is proposed…
Embodied Task Planning with large language models faces safety challenges in real-world environments, where partial observability and physical constraints must be respected. Existing benchmarks often overlook these critical factors,…
Modern autonomous underwater vehicles (AUVs) have advanced sensing capabilities including sonar, cameras, acoustic communication, and diverse bio-sensors. Instead of just sensing its environment and storing the data for post-Mission…
Object detection and multiple object tracking (MOT) are essential components of self-driving systems. Accurate detection and uncertainty quantification are both critical for onboard modules, such as perception, prediction, and planning, to…
Driving scene understanding is a critical real-world problem that involves interpreting and associating various elements of a driving environment, such as vehicles, pedestrians, and traffic signals. Despite advancements in autonomous…
3D multi-object tracking aims to uniquely and consistently identify all mobile entities through time. Despite the rich spatiotemporal information available in this setting, current 3D tracking methods primarily rely on abstracted…
Achieving highly accurate and real-time 3D occupancy prediction from cameras is a critical requirement for the safe and practical deployment of autonomous vehicles. While this shift to sparse 3D representations solves the encoding…
Multi-object tracking (MOT) is a crucial component of situational awareness in military defense applications. With the growing use of unmanned aerial systems (UASs), MOT methods for aerial surveillance is in high demand. Application of MOT…
This paper presents a new swarm intelligence-based approach to deal with the cooperative path planning problem of unmanned aerial vehicles (UAVs), which is essential for the automatic inspection of infrastructure. The approach uses a 3D…
Autonomous navigation of ground robots has been widely used in indoor structured 2D environments, but there are still many challenges in outdoor 3D unstructured environments, especially in rough, uneven terrains. This paper proposed a…
3D Multi-Object Tracking (MOT) provides the trajectories of surrounding objects, assisting robots or vehicles in smarter path planning and obstacle avoidance. Existing 3D MOT methods based on the Tracking-by-Detection framework typically…
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…