相关论文: NEMO: Future Object Localization Using Noisy Ego P…

Objects are crucial for understanding human-object interactions. By identifying the relevant objects, one can also predict potential future interactions or actions that may occur with these objects. In this paper, we study the problem of…

We propose improving the cross-target and cross-scene generalization of visual navigation through learning an agent that is guided by conceiving the next observations it expects to see. This is achieved by learning a variational Bayesian…

Current trajectory prediction models are primarily trained in an open-loop manner, which often leads to covariate shift and compounding errors when deployed in real-world, closed-loop settings. Furthermore, relying on static datasets or…

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…

Motion prediction in unstructured environments is a difficult problem and is essential for safe and efficient human-robot space sharing and collaboration. In this work, we focus on manipulation movements in environments such as homes,…

Predicting the behaviour (i.e., manoeuvre/trajectory) of other road users, including vehicles, is critical for the safe and efficient operation of autonomous vehicles (AVs), a.k.a., automated driving systems (ADSs). Due to the uncertain…

The problem of multimodal intent and trajectory prediction for human-driven vehicles in parking lots is addressed in this paper. Using models designed with CNN and Transformer networks, we extract temporal-spatial and contextual information…

Object tracking is an important functionality of edge video analytic systems and services. Multi-object tracking (MOT) detects the moving objects and tracks their locations frame by frame as real scenes are being captured into a video.…

Predicting future frames of a video sequence has been a problem of high interest in the field of Computer Vision as it caters to a multitude of applications. The ability to predict, anticipate and reason about future events is the essence…

World models for autonomous driving have the potential to dramatically improve the reasoning capabilities of today's systems. However, most works focus on camera data, with only a few that leverage lidar data or combine both to better…

Moving object segmentation (MOS) in dynamic scenes is an important, challenging, but under-explored research topic for autonomous driving, especially for sequences obtained from moving ego vehicles. Most segmentation methods leverage motion…

In this work, we aim to achieve efficient end-to-end learning of driving policies in dynamic multi-agent environments. Predicting and anticipating future events at the object level are critical for making informed driving decisions. We…

A longstanding challenge for self-driving development is simulating dynamic driving scenarios seeded from recorded driving logs. In pursuit of this functionality, we apply tools from discrete sequence modeling to model how vehicles,…

Autonomous navigation in crowded, complex urban environments requires interacting with other agents on the road. A common solution to this problem is to use a prediction model to guess the likely future actions of other agents. While this…

Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…

In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertainty of surrounding vehicles. The method dynamically captures…

Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to…

This paper introduces the problem of multiple object forecasting (MOF), in which the goal is to predict future bounding boxes of tracked objects. In contrast to existing works on object trajectory forecasting which primarily consider the…

Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While…

We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion…