相关论文: A Random Finite Set Approach for Dynamic Occupancy…

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…

This paper reports on a dynamic semantic mapping framework that incorporates 3D scene flow measurements into a closed-form Bayesian inference model. Existence of dynamic objects in the environment can cause artifacts and traces in current…

This paper proposes a state-machine model for a multi-modal, multi-robot environmental sensing algorithm. This multi-modal algorithm integrates two different exploration algorithms: (1) coverage path planning using variable formations and…

Today's mobile robots are expected to operate in complex environments they share with humans. To allow intuitive human-robot collaboration, robots require a human-like understanding of their surroundings in terms of semantically classified…

The advance towards higher levels of automation within the field of automated driving is accompanied by increasing requirements for the operational safety of vehicles. Induced by the limitation of computational resources, trade-offs between…

For autonomous vehicles to proactively plan safe trajectories and make informed decisions, they must be able to predict the future occupancy states of the local environment. However, common issues with occupancy prediction include…

We introduce a new sequential methodology to calibrate the fixed parameters and track the stochastic dynamical variables of a state-space system. The proposed method is based on the nested hybrid filtering (NHF) framework of [1], that…

Nonstationarity of the event rate is a persistent problem in modeling time series of events, such as neuronal spike trains. Motivated by a variety of patterns in neurophysiological spike train recordings, we define a general class of…

Set prediction is about learning to predict a collection of unordered variables with unknown interrelations. Training such models with set losses imposes the structure of a metric space over sets. We focus on stochastic and underdefined…

Although, in the task of grasping via a data-driven method, closed-loop feedback and predicting 6 degrees of freedom (DoF) grasp rather than conventionally used 4DoF top-down grasp are demonstrated to improve performance individually, few…

In NeRF, a critical problem is to effectively estimate the occupancy to guide empty-space skipping and point sampling. Grid-based methods work well for small-scale scenes. However, on large-scale scenes, they are limited by predefined…

Radar must adapt to changing environments, and we propose changepoint detection as a method to do so. In the world of increasingly congested radio frequencies, radars must adapt to avoid interference. Many radar systems employ the…

In the past few decades, the development of fluorescent technologies and microscopic techniques has greatly improved scientists' ability to observe real-time single-cell activities. In this paper, we consider the filtering problem associate…

We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting 3D occupancy maps given partial observations. Our proposed…

This article presents a family of Stochastic Cartographic Occupancy Prediction Engines (SCOPEs) that enable mobile robots to predict the future states of complex dynamic environments. They do this by accounting for the motion of the robot…

Information-driven control can be used to develop intelligent sensors that can optimize their measurement value based on environmental feedback. In object tracking applications, sensor actions are chosen based on the expected reduction in…

In this paper, we aim to forecast a future trajectory distribution of a moving agent in the real world, given the social scene images and historical trajectories. Yet, it is a challenging task because the ground-truth distribution is…

This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…

This paper deals with the state estimation of stochastic models with continuous dynamics. The aim is to incorporate spectral differentiation methods into the solution to the Fokker-Planck equation in grid-based state estimation routine,…

This paper introduces a novel hybrid architecture that enhances radar-based Dynamic Occupancy Grid Mapping (DOGM) for autonomous vehicles, integrating deep learning for state-classification. Traditional radar-based DOGM often faces…