相关论文: Bayesian Intent Prediction in Object Tracking Usin…

Collision prediction in a dynamic and unknown environment relies on knowledge of how the environment is changing. Many collision prediction methods rely on deterministic knowledge of how obstacles are moving in the environment. However,…

This work introduces an adaptive Bayesian algorithm for real-time trajectory prediction via intention inference, where a target's intentions and motion characteristics are unknown and subject to change. The method concurrently estimates two…

This paper presents a Bayesian framework for inferring the posterior of the augmented state of a target, incorporating its underlying goal or intent, such as any intermediate waypoints and/or the final destination. Thus, it is for joint…

This paper proposes a probabilistic framework for the sequential estimation of the likelihood of a driver or passenger(s) returning to the vehicle and time of arrival, from the available partial track of the user location. The latter can be…

We propose a predictive runtime monitoring framework that forecasts the distribution of future positions of mobile robots in order to detect and avoid impending property violations such as collisions with obstacles or other agents. Our…

In this paper, we present Goal-GAN, an interpretable and end-to-end trainable model for human trajectory prediction. Inspired by human navigation, we model the task of trajectory prediction as an intuitive two-stage process: (i) goal…

Collision avoidance capability is an essential component in an autonomous vessel navigation system. To this end, an accurate prediction of dynamic obstacle trajectories is vital. Traditional approaches to trajectory prediction face…

Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…

Accurate prediction of pedestrian crossing behaviors by autonomous vehicles can significantly improve traffic safety. Existing approaches often model pedestrian behaviors using trajectories or poses but do not offer a deeper semantic…

Predicting pedestrian motion trajectories is critical for the path planning and motion control of autonomous vehicles. Recent diffusion-based models have shown promising results in capturing the inherent stochasticity of pedestrian behavior…

Shared control can help in teleoperated object manipulation by assisting with the execution of the user's intention. To this end, robust and prompt intention estimation is needed, which relies on behavioral observations. Here, an intention…

We propose a Deep RObust Goal-Oriented trajectory prediction Network (DROGON) for accurate vehicle trajectory prediction by considering behavioral intentions of vehicles in traffic scenes. Our main insight is that the behavior (i.e.,…

Ships, or vessels, often sail in and out of cluttered environments over the course of their trajectories. Safe navigation in such cluttered scenarios requires an accurate estimation of the intent of neighboring vessels and their effect on…

For machines to effectively assist humans in challenging visual search tasks, they must differentiate whether a human is simply glancing into a scene (navigational intent) or searching for a target object (informational intent). Previous…

Object tracking is one of the fundamental problems in visual recognition tasks and has achieved significant improvements in recent years. The achievements often come with the price of enormous hardware consumption and expensive labor effort…

Traditional approaches to prediction of future trajectory of road agents rely on knowing information about their past trajectory. This work rather relies only on having knowledge of the current state and intended direction to make…

Two-thirds of the people who buy a new car prefer to use a substitute instead of the built-in navigation system. However, for many applications, knowledge about a user's intended destination and route is crucial. For example, suggestions…

We present here a general framework and a specific algorithm for predicting the destination, route, or more generally a pattern, of an ongoing journey, building on the recent work of [Y. Lassoued, J. Monteil, Y. Gu, G. Russo, R. Shorten,…

The prediction of humans' short-term trajectories has advanced significantly with the use of powerful sequential modeling and rich environment feature extraction. However, long-term prediction is still a major challenge for the current…

This paper describes a novel method for allowing an autonomous ground vehicle to predict the intent of other agents in an urban environment. This method, termed the cognitive driving framework, models both the intent and the potentially…