Related papers: S3KF: Spherical State-Space Kalman Filtering for P…
This paper analyzes directional tracking in 2D with the extended Kalman filter on Lie groups (LG-EKF). The study stems from the problem of tracking objects moving in 2D Euclidean space, with the observer measuring direction only, thus…
The multi-state constraint Kalman filter (MSCKF) has been proven to be more efficient than graph optimization for visual-based odometry while with similar accuracy. However, it has not been adequately considered and studied for LiDAR-based…
Recently, the Kernelized Correlation Filters tracker (KCF) achieved competitive performance and robustness in visual object tracking. On the other hand, visual trackers are not typically used in multiple object tracking. In this paper, we…
Linear objects convey substantial information about document structure, but are challenging to detect accurately because of degradation (curved, erased) or decoration (doubled, dashed). Many approaches can recover some vector…
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…
In dynamic scenes, both localization and mapping in visual SLAM face significant challenges. In recent years, numerous outstanding research works have proposed effective solutions for the localization problem. However, there has been a…
In this paper, we derive a new Kalman filter with probabilistic data association between measurements and states. We formulate a variational inference problem to approximate the posterior density of the state conditioned on the measurement…
While computer vision has advanced considerably for general object detection and tracking, the specific problem of fast-moving tiny objects remains underexplored. This paper addresses the significant challenge of detecting and tracking…
In operating rooms (OR), world-scale multi-view 3D tracking supports downstream applications such as surgeon behavior recognition, where physically meaningful quantities such as distances and motion statistics must be measured in meters.…
This paper represents the novel high precision localization approach for Automated Driving (AD) relative to 3D map. The AD maps are not necessarily flat. Hence, the problem of localization is solved here in 3D. The vehicle motion is modeled…
Object tracking is a key aspect in many applications such as augmented reality in medicine (e.g. tracking a surgical instrument) or robotics. Squared planar markers have become popular tools for tracking since their pose can be estimated…
Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…
Complex systems are often described with competing models. Such divergence of interpretation on the system may stem from model fidelity, mathematical simplicity, and more generally, our limited knowledge of the underlying processes.…
Understanding driving situations regardless the conditions of the traffic scene is a cornerstone on the path towards autonomous vehicles; however, despite common sensor setups already include complementary devices such as LiDAR or radar,…
The fusion of camera sensor and inertial data is a leading method for ego-motion tracking in autonomous and smart devices. State estimation techniques that rely on non-linear filtering are a strong paradigm for solving the associated…
This thesis is devoted to marker-less 3D human motion tracking in calibrated and synchronized multicamera systems. Pose estimation is based on a 3D model, which is transformed into the image plane and then rendered. Owing to elaborated…
To boost a detector for single-frame 3D object detection, we present a new approach to train it to simulate features and responses following a detector trained on multi-frame point clouds. Our approach needs multi-frame point clouds only…
Navigation using only one marker, which contains four artificial features, is a challenging task since camera pose estimation using only four coplanar points suffers from the rotational ambiguity problem in a real-world application. This…
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…
Modern multi-object tracking (MOT) system usually involves separated modules, such as motion model for location and appearance model for data association. However, the compatible problems within both motion and appearance models are always…