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The task of motion prediction is pivotal for autonomous driving systems, providing crucial data to choose a vehicle behavior strategy within its surroundings. Existing motion prediction techniques primarily focus on predicting the future…
Autonomous navigation in unknown environments requires multi-scale spatial understanding that captures geometric details, topological connectivity, and global structure to support high-level decision making under partial observability.…
People navigating in unfamiliar buildings take advantage of myriad visual, spatial and semantic cues to efficiently achieve their navigation goals. Towards equipping computational agents with similar capabilities, we introduce Pathdreamer,…
We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…
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…
This paper presents a novel context-based approach for pedestrian motion prediction in crowded, urban intersections, with the additional flexibility of prediction in similar, but new, environments. Previously, Chen et. al. combined…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
We present an advance in wearable technology: a mobile-optimized, real-time, ultra-low-power event camera system that enables natural hand gesture control for smart glasses, dramatically improving user experience. While hand gesture…
Detecting and segmenting individual objects, regardless of their category, is crucial for many applications such as action detection or robotic interaction. While this problem has been well-studied under the classic formulation of…
Navigating unfamiliar environments remains one of the most persistent and critical challenges for people who are blind or have limited vision (BLV). Existing assistive tools often rely on online services or APIs, making them costly,…
Navigating peripersonal space requires reaching targets in both horizontal (e.g., desks) and vertical (e.g., shelves) layouts with high precision. We developed a haptic glove to aid peri-personal target navigation and investigated the…
Navigation is one of the most widely used applications of the Location Based Services (LBS) which have become part of our digitally informed daily lives. Navigation services, however, have generally been designed for drivers rather than…
The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…
Finding obstacle-free paths in unknown environments is a big navigation issue for visually impaired people and autonomous robots. Previous works focus on obstacle avoidance, however they do not have a general view of the environment they…
Estimating the pose of a moving camera from monocular video is a challenging problem, especially due to the presence of moving objects in dynamic environments, where the performance of existing camera pose estimation methods are susceptible…
This paper proposes a semantic segmentation method for outdoor scenes captured by a surveillance camera. Our algorithm classifies each perceptually homogenous region as one of the predefined classes learned from a collection of manually…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…
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…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…