相关论文: Future Localization from an Egocentric Depth Image

Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…

In this paper, we investigate the problem of anticipating future dynamics, particularly the future location of other vehicles and pedestrians, in the view of a moving vehicle. We approach two fundamental challenges: (1) the partial…

Efficient navigation in dynamic environments requires anticipating how motion patterns evolve beyond the robot's immediate perceptual range, enabling preemptive rather than purely reactive planning in crowded scenes. Maps of Dynamics (MoDs)…

Predicting the future location of vehicles is essential for safety-critical applications such as advanced driver assistance systems (ADAS) and autonomous driving. This paper introduces a novel approach to simultaneously predict both the…

In this paper, we address the problem of forecasting the trajectory of an egocentric camera wearer (ego-person) in crowded spaces. The trajectory forecasting ability learned from the data of different camera wearers walking around in the…

Accurate prediction of future person location and movement trajectory from an egocentric wearable camera can benefit a wide range of applications, such as assisting visually impaired people in navigation, and the development of mobility…

Occlusion is a long-standing problem that causes many modern tracking methods to be erroneous. In this paper, we address the occlusion problem by exploiting the current and future possible locations of the target object from its past…

We present a new method to localize a camera within a previously unseen environment perceived from an egocentric point of view. Although this is, in general, an ill-posed problem, humans can effortlessly and efficiently determine their…

Future trajectory prediction of a tracked pedestrian from an egocentric perspective is a key task in areas such as autonomous driving and robot navigation. The challenge of this task lies in the complex dynamic relative motion between the…

Predicting the future trajectory of agents from visual observations is an important problem for realization of safe and effective navigation of autonomous systems in dynamic environments. This paper focuses on two important aspects of…

We tackle the problem of Human Locomotion Forecasting, a task for jointly predicting the spatial positions of several keypoints on the human body in the near future under an egocentric setting. In contrast to the previous work that aims to…

Humans can predict future human trajectories even from momentary observations by using human pose-related cues. However, previous Human Trajectory Prediction (HTP) methods leverage the pose cues implicitly, resulting in implausible…

Perception and planning under occlusion is essential for safety-critical tasks. Occlusion-aware planning often requires communicating the information of the occluded object to the ego agent for safe navigation. However, communicating rich…

Motion planning for safe autonomous driving requires learning how the environment around an ego-vehicle evolves with time. Ego-centric perception of driveable regions in a scene not only changes with the motion of actors in the environment,…

Using an ego-centric camera to do localization and tracking is highly needed for urban navigation and indoor assistive system when GPS is not available or not accurate enough. The traditional hand-designed feature tracking and estimation…

In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…

To navigate safely in urban environments, an autonomous vehicle (ego vehicle) must understand and anticipate its surroundings, in particular the behavior and intents of other road users (neighbors). Most of the times, multiple decision…

Real-time ego-motion tracking for endoscope is a significant task for efficient navigation and robotic automation of endoscopy. In this paper, a novel framework is proposed to perform real-time ego-motion tracking for endoscope. Firstly, a…

Predicting the future to anticipate the outcome of events and actions is a critical attribute of autonomous agents; particularly for agents which must rely heavily on real time visual data for decision making. Working towards this…

We propose the task Future Object Detection, in which the goal is to predict the bounding boxes for all visible objects in a future video frame. While this task involves recognizing temporal and kinematic patterns, in addition to the…