相关论文: PnPNet: End-to-End Perception and Prediction with …

We propose a framework for the completely unsupervised learning of latent object properties from their interactions: the perception-prediction network (PPN). Consisting of a perception module that extracts representations of latent object…

Graphs offer a natural way to formulate Multiple Object Tracking (MOT) and Multiple Object Tracking and Segmentation (MOTS) within the tracking-by-detection paradigm. However, they also introduce a major challenge for learning methods, as…

Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…

In this work, we introduce DeepIPC, a novel end-to-end model tailored for autonomous driving, which seamlessly integrates perception and control tasks. Unlike traditional models that handle these tasks separately, DeepIPC innovatively…

Predicting future trajectories is critical in autonomous navigation, especially in preventing accidents involving humans, where a predictive agent's ability to anticipate in advance is of utmost importance. Trajectory forecasting models,…

We propose a method for learning from streaming visual data using a compact, constant size representation of all the data that was seen until a given moment. Specifically, we construct a 'coreset' representation of streaming data using a…

Predicting the future behavior of moving agents is essential for real world applications. It is challenging as the intent of the agent and the corresponding behavior is unknown and intrinsically multimodal. Our key insight is that for…

The majority of contemporary object-tracking approaches do not model interactions between objects. This contrasts with the fact that objects' paths are not independent: a cyclist might abruptly deviate from a previously planned trajectory…

Multi-Object Tracking (MOT) has been a long-standing challenge in video understanding. A natural and intuitive approach is to split this task into two parts: object detection and association. Most mainstream methods employ meticulously…

Multi-object tracking (MOT) is a challenging practical problem for vision based applications. Most recent approaches for MOT use precomputed detections from models such as Faster RCNN, performing fine-tuning of bounding boxes and…

Collaborative perception is essential to address occlusion and sensor failure issues in autonomous driving. In recent years, theoretical and experimental investigations of novel works for collaborative perception have increased…

Multiobject tracking (MOT) is an important task in robotics, autonomous driving, and maritime surveillance. Traditional work on MOT is model-based and aims to establish algorithms in the framework of sequential Bayesian estimation. More…

Motion forecasting aims to predict the future trajectories of dynamic agents in the scene, enabling autonomous vehicles to effectively reason about scene evolution. Existing approaches operate under the closed-world regime and assume fixed…

In recent years, compact and efficient scene understanding representations have gained popularity in increasing situational awareness and autonomy of robotic systems. In this work, we illustrate the concept of a panoptic edge segmentation…

Autonomous drone pursuit requires not only detecting drones but also predicting their trajectories in a manner that enables kinematically feasible interception. Existing tracking methods optimize for prediction accuracy but ignore pursuit…

Tracking a point through a video can be a challenging task due to uncertainty arising from visual obfuscations, such as appearance changes and occlusions. Although current state-of-the-art discriminative models excel in regressing long-term…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

Multi-object tracking (MOT) has been dominated by the use of track by detection approaches due to the success of convolutional neural networks (CNNs) on detection in the last decade. As the datasets and bench-marking sites are published,…

End-to-end autonomous driving has achieved remarkable progress by integrating perception, prediction, and planning into a fully differentiable framework. Yet, to fully realize its potential, an effective online trajectory evaluation is…

Inspired by human driving focus, this research pioneers networks augmented with Focusing Sampling, Partial Field of View Evaluation, Enhanced FPN architecture and Directional IoU Loss - targeted innovations addressing obstacles to precise…