Related papers: HelixTrack: Event-Based Tracking and RPM Estimatio…
Multi-view 3D geometry networks offer a powerful prior but are prohibitively slow for real-time applications. We propose a novel way to adapt them for online use, enabling real-time 6-DoF pose tracking and online reconstruction of objects…
Multi-object tracking (MOT) aims at estimating bounding boxes and identities of objects in videos. Most methods can be roughly classified as tracking-by-detection and joint-detection-association paradigms. Although the latter has elicited…
Point tracking in video sequences is a foundational capability for real-world computer vision applications, including robotics, autonomous systems, augmented reality, and video analysis. While recent deep learning-based trackers achieve…
Motion and dynamic environments, especially under challenging lighting conditions, are still an open issue for robust robotic applications. In this paper, we propose an end-to-end pipeline for real-time, low latency, 6 degrees-of-freedom…
Event-based vision sensors produce an asynchronous stream of events which are triggered when the pixel intensity variation exceeds a predefined threshold. Such sensors offer significant advantages, including reduced data redundancy,…
Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…
Predicting human mobility is inherently challenging due to complex long-range dependencies and multi-scale periodic behaviors. To address this, we introduce RHYTHM (Reasoning with Hierarchical Temporal Tokenization for Human Mobility), a…
Event cameras are innovative neuromorphic sensors that asynchronously capture the scene dynamics. Due to the event-triggering mechanism, such cameras record event streams with much shorter response latency and higher intensity sensitivity…
Tracking human object interaction from videos is important to understand human behavior from the rapidly growing stream of video data. Previous video-based methods require predefined object templates while single-image-based methods are…
Accurate tracking of planned trajectories in the presence of perturbations is an important problem in control and robotics. Symmetry is a fundamental mathematical feature of many dynamical systems and exploiting this property offers the…
One of the most computationally challenging problems expected for the High-Luminosity Large Hadron Collider (HL-LHC) is determining the trajectory of charged particles during event reconstruction. Algorithms used at the LHC today rely on…
Online trajectory optimization and optimal control methods are crucial for enabling sustainable unmanned aerial vehicle (UAV) services, such as agriculture, environmental monitoring, and transportation, where available actuation and energy…
Patient motion is well-known for degrading image quality during medical imaging. Especially positron emission tomography (PET) is susceptible to motion due to its usually long scan times. In hybrid PET/MRI (magnetic resonance imaging),…
Multi-drone surveillance systems offer enhanced coverage and robustness for pedestrian tracking, yet existing approaches struggle with dynamic camera positions and complex occlusions. This paper introduces MATRIX (Multi-Aerial TRacking In…
Events cameras are ideal sensors for enabling robots to detect and track objects in highly dynamic environments due to their low latency output, high temporal resolution, and high dynamic range. In this paper, we present the Asynchronous…
This work presents an extended framework for learning-based bipedal locomotion that incorporates a heuristic step-planning strategy guided by desired torso velocity tracking. The framework enables precise interaction between a humanoid…
This paper studies the kinematic tracking control problem for aerial manipulators. Existing kinematic tracking control methods, which typically employ proportional-derivative feedback or tracking-error-based feedback strategies, may fail to…
As transformer sequence lengths grow, existing pipeline parallelisms incur suboptimal performance due to the quadratic attention computation and the substantial memory overhead. To relieve these challenges, we propose HelixPipe, a novel…
Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the…
Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, existing approaches rely on heavily pre-processed human-to-humanoid motion retargeting and position-only…