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Multi-object tracking (MOT) on static platforms, such as by surveillance cameras, has achieved significant progress, with various paradigms providing attractive performances. However, the effectiveness of traditional MOT methods is…
Different from existing MOT (Multi-Object Tracking) techniques that usually aim at improving tracking accuracy and average FPS, real-time systems such as autonomous vehicles necessitate new requirements of MOT under limited computing…
Multi-object tracking is a cornerstone capability of any robotic system. The quality of tracking is largely dependent on the quality of the detector used. In many applications, such as autonomous vehicles, it is preferable to over-detect…
Open-set detection is crucial for robust UAV autonomy in air-to-air object detection under real-world conditions. Traditional closed-set detectors degrade significantly under domain shifts and flight data corruption, posing risks to…
Drones have become essential tools in a wide range of industries, including agriculture, surveying, and transportation. However, tracking unmanned aerial vehicles (UAVs) in challenging environments, such cluttered or GNSS-denied…
Tracking 3D objects accurately and consistently is crucial for autonomous vehicles, enabling more reliable downstream tasks such as trajectory prediction and motion planning. Based on the substantial progress in object detection in recent…
Unmanned Aerial Vehicles (UAVs) are transforming infrastructure inspections in the Architecture, Engineering, Construction, and Facility Management (AEC+FM) domain. By synthesizing insights from over 150 studies, this review paper…
Embodied Visual Tracking (EVT) is a fundamental ability that underpins practical applications, such as companion robots, guidance robots and service assistants, where continuously following moving targets is essential. Recent advances have…
Unmanned Aerial Vehicles (UAVs) offer wide-ranging applications but also pose significant safety and privacy violation risks in areas like airport and infrastructure inspection, spurring the rapid development of Anti-UAV technologies in…
This paper presents a visual tracking system that is capable or running real time on-board a small UAV (Unmanned Aerial Vehicle). The tracking system is computationally efficient and invariant to lighting changes and rotation of the object…
Multi-object tracking (MOT) predominantly follows the tracking-by-detection paradigm, where Kalman filters serve as the standard motion predictor due to computational efficiency but inherently fail on non-linear motion patterns. Conversely,…
The tracking-by-detection paradigm today has become the dominant method for multi-object tracking and works by detecting objects in each frame and then performing data association across frames. However, its sequential frame-wise matching…
There is tremendous scope for improving the energy efficiency of embedded vision systems by incorporating programmable region-of-interest (ROI) readout in the image sensor design. In this work, we study how ROI programmability can be…
Object detection has long been a topic of high interest in computer vision literature. Motivated by the fact that annotating data for the multi-object tracking (MOT) problem is immensely expensive, recent studies have turned their attention…
The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
Temporal modeling of objects is a key challenge in multiple object tracking (MOT). Existing methods track by associating detections through motion-based and appearance-based similarity heuristics. The post-processing nature of association…
Vehicle-to-everything communication system is a strong candidate for improving the driving experience and automotive safety by linking vehicles to wireless networks. To take advantage of the full benefits of vehicle connectivity, it is…
Multi-Object Tracking (MOT) has been notoriously difficult to evaluate. Previous metrics overemphasize the importance of either detection or association. To address this, we present a novel MOT evaluation metric, HOTA (Higher Order Tracking…
Accurate motion state estimation of Vulnerable Road Users (VRUs), is a critical requirement for autonomous vehicles that navigate in urban environments. Due to their computational efficiency, many traditional autonomy systems perform…