相关论文: 3DOF Pedestrian Trajectory Prediction Learned from…

In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the use of these maps for localization remains largely…

We present a Pedestrian Dominance Model (PDM) to identify the dominance characteristics of pedestrians for robot navigation. Through a perception study on a simulated dataset of pedestrians, PDM models the perceived dominance levels of…

Predicting movement of objects while the action of learning agent interacts with the dynamics of the scene still remains a key challenge in robotics. We propose a multi-layer Long Short Term Memory (LSTM) autoendocer network that predicts…

Multi-agent motion prediction is challenging because it aims to foresee the future trajectories of multiple agents (\textit{e.g.} pedestrians) simultaneously in a complicated scene. Existing work addressed this challenge by either learning…

In this work we study indoor scene object placement. Given a 3D indoor scene and an object, the task is to predict placement locations within the scene. Empirical observations of data-driven approaches to the problem show their tendency to…

Accurate proprioceptive odometry is fundamental for legged robot navigation in GPS-denied and visually degraded environments where conventional visual odometry systems fail. Current approaches face critical limitations: analytical filtering…

Predicting pedestrian motion is essential for developing socially-aware robots that interact in a crowded environment. While the natural visual perspective for a social interaction setting is an egocentric view, the majority of existing…

Real-time six degree-of-freedom pose estimation with ground vehicles represents a relevant and well studied topic in robotics, due to its many applications, such as autonomous driving and 3D mapping. Although some systems exist already,…

We propose a novel framework for multi-person 3D motion trajectory prediction. Our key observation is that a human's action and behaviors may highly depend on the other persons around. Thus, instead of predicting each human pose trajectory…

Trajectory prediction is one of the key capabilities for robots to safely navigate and interact with pedestrians. Critical insights from human intention and behavioral patterns need to be integrated to effectively forecast long-term…

We present the pedestrian patterns dataset for autonomous driving. The dataset was collected by repeatedly traversing the same three routes for one week starting at different specific timeslots. The purpose of the dataset is to capture the…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

In the realm of autonomous mobile robots, safe navigation through unpaved outdoor environments remains a challenging task. Due to the high-dimensional nature of sensor data, extracting relevant information becomes a complex problem, which…

In the rapidly evolving field of autonomous driving, reliable prediction is pivotal for vehicular safety. However, trajectory predictions often deviate from actual paths, particularly in complex and challenging environments, leading to…

We introduce a unified approach to forecast the dynamics of human keypoints along with the motion trajectory based on a short sequence of input poses. While many studies address either full-body pose prediction or motion trajectory…

Human pose estimation is a very active research field, stimulated by its important applications in robotics, entertainment or health and sports sciences, among others. Advances in convolutional networks triggered noticeable improvements in…

For long-term autonomy, most place recognition methods are mainly evaluated on simplified scenarios or simulated datasets, which cannot provide solid evidence to evaluate the readiness for current Simultaneous Localization and Mapping…

This paper introduces a novel framework, i.e., RFPose-OT, to enable the 3D human pose estimation from Radio Frequency (RF) signals. Different from existing methods that predict human poses from RF signals on the signal level directly, we…

Most of the existing 3D human pose estimation approaches mainly focus on predicting 3D positional relationships between the root joint and other human joints (local motion) instead of the overall trajectory of the human body (global…

Next location prediction is of great importance for many location-based applications and provides essential intelligence to business and governments. In existing studies, a common approach to next location prediction is to learn the…