相关论文: OCTNet: Trajectory Generation in New Environments …

With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of…

Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…

Predicting the future motion of vehicles has been studied using various techniques, including stochastic policies, generative models, and regression. Recent work has shown that classification over a trajectory set, which approximates…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

A multi-modal framework to generate user intention distributions when operating a mobile vehicle is proposed in this work. The model learns from past observed trajectories and leverages traversability information derived from the visual…

Occlusion is a long-standing problem that causes many modern tracking methods to be erroneous. In this paper, we address the occlusion problem by exploiting the current and future possible locations of the target object from its past…

Trajectory behaviours of pedestrians and vehicles operating close to each other can be different in unstructured compared to structured environments. These differences in the motion behaviour are valuable to be considered in the trajectory…

The prediction of humans' short-term trajectories has advanced significantly with the use of powerful sequential modeling and rich environment feature extraction. However, long-term prediction is still a major challenge for the current…

The large-scale deployment of autonomous vehicles is yet to come, and one of the major remaining challenges lies in urban dense traffic scenarios. In such cases, it remains challenging to predict the future evolution of the scene and future…

Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…

Most pedestrian trajectory prediction methods rely on a huge amount of trajectories annotation, which is time-consuming and expensive. Moreover, a well-trained model may not effectively generalize to a new scenario captured by another…

We propose a unified deep learning framework for the generation and analysis of driving scenario trajectories, and validate its effectiveness in a principled way. To model and generate scenarios of trajectories with different lengths, we…

Human motion prediction is an increasingly interesting topic in computer vision and robotics. In this paper, we propose a new 2D CNN based network, TrajectoryNet, to predict future poses in the trajectory space. Compared with most existing…

Human trajectory prediction is a practical task of predicting the future positions of pedestrians on the road, which typically covers all temporal ranges from short-term to long-term within a trajectory. However, existing works attempt to…

Perception that involves multi-object detection and tracking, and trajectory prediction are two major tasks of autonomous driving. However, they are currently mostly studied separately, which results in most trajectory prediction modules…

This paper presents two variations of a novel stochastic prediction algorithm that enables mobile robots to accurately and robustly predict the future state of complex dynamic scenes. The proposed algorithm uses a variational autoencoder to…

We investigate the multi-step prediction of the drivable space, represented by Occupancy Grid Maps (OGMs), for autonomous vehicles. Our motivation is that accurate multi-step prediction of the drivable space can efficiently improve path…

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…

Generative world models increasingly rely on 4D occupancy for realistic autonomous driving simulation. However, existing generation frameworks depend on rigid geometric conditions (e.g., explicit trajectories) or simplistic attribute-level…

We consider the problem of forecasting motion from a single image, i.e., predicting how objects in the world are likely to move, without the ability to observe other parameters such as the object velocities or the forces applied to them. We…