相关论文: Multi-person Pose Tracking using Sequential Monte …

Sequential Monte Carlo (SMC) methods offer a principled approach to Bayesian uncertainty quantification but are traditionally limited by the need for full-batch gradient evaluations. We introduce a scalable variant by incorporating…

We propose sequential Monte Carlo (SMC) methods for sampling the posterior distribution of state-space models under highly informative observation regimes, a situation in which standard SMC methods can perform poorly. A special case is…

In this paper we contribute a simple yet effective approach for estimating 3D poses of multiple people from multi-view images. Our proposed coarse-to-fine pipeline first aggregates noisy 2D observations from multiple camera views into 3D…

3D human pose estimation has been a long-standing challenge in computer vision and graphics, where multi-view methods have significantly progressed but are limited by the tedious calibration processes. Existing multi-view methods are…

The state space representation of active resident space objects can be posed in the form of a stochastic hybrid system. Satellite maneuvers may be accounted for according to control cost or heuristical considerations, yet it is possible to…

Multi-person pose estimation in images and videos is an important yet challenging task with many applications. Despite the large improvements in human pose estimation enabled by the development of convolutional neural networks, there still…

Human pose forecasting is a challenging problem involving complex human body motion and posture dynamics. In cases that there are multiple people in the environment, one's motion may also be influenced by the motion and dynamic movements of…

We introduce a new class of sequential Monte Carlo methods which reformulates the essence of the nested sampling method of Skilling (2006) in terms of sequential Monte Carlo techniques. Two new algorithms are proposed, nested sampling via…

We introduce an approach for detecting and tracking detailed 3D poses of multiple people from a single monocular camera stream. Our system maintains temporally coherent predictions in crowded scenes filled with difficult poses and…

In this paper, we present an approach for tracking people in monocular videos, by predicting their future 3D representations. To achieve this, we first lift people to 3D from a single frame in a robust way. This lifting includes information…

This work investigates the challenge of ensuring safety guarantees in the presence of uncontrollable agents, whose behaviors are stochastic and depend on both their own and the system's states. We present a neural model predictive control…

The number of resident space objects is rising at an alarming rate. Mega-constellations and breakup events are proliferating in most orbital regimes, and safe navigation is becoming increasingly problematic. It is important to be able to…

The identification of parameters in mathematical models using noisy observations is a common task in uncertainty quantification. We employ the framework of Bayesian inversion: we combine monitoring and observational data with prior…

This paper concerns the use of sequential Monte Carlo methods (SMC) for smoothing in general state space models. A well-known problem when applying the standard SMC technique in the smoothing mode is that the resampling mechanism introduces…

Based on the principles of importance sampling and resampling, sequential Monte Carlo (SMC) encompasses a large set of powerful techniques dealing with complex stochastic dynamic systems. Many of these systems possess strong memory, with…

This article focuses on the trajectory tracking problem of mobile manipulators (MMs). Firstly, we construct a position and orientation model predictive tracking control (POMPTC) scheme for mobile manipulators. The proposed POMPTC scheme can…

Human pose estimation aims to accurately estimate a wide variety of human poses. However, existing datasets often follow a long-tailed distribution that unusual poses only occupy a small portion, which further leads to the lack of diversity…

This paper addresses the problem of 3D pose estimation for multiple people in a few calibrated camera views. The main challenge of this problem is to find the cross-view correspondences among noisy and incomplete 2D pose predictions. Most…

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 introduces methodology for performing Bayesian inference sequentially on a sequence of posteriors on spaces of different dimensions. We show how this may be achieved through the use of sequential Monte Carlo (SMC) samplers (Del…