相关论文: Exploring Dynamic Context for Multi-path Trajector…

Demystifying the interactions among multiple agents from their past trajectories is fundamental to precise and interpretable trajectory prediction. However, previous works mainly consider static, pair-wise interactions with limited…

We aim for domestic robots to perform long-term indoor service. Under the object-level scene dynamics induced by daily human activities, a robot needs to robustly localize itself in the environment subject to scene uncertainties. Previous…

We present an interpretable framework for path prediction that leverages dependencies between agents' behaviors and their spatial navigation environment. We exploit two sources of information: the past motion trajectory of the agent of…

Data driven methods for time series forecasting that quantify uncertainty open new important possibilities for robot tasks with hard real time constraints, allowing the robot system to make decisions that trade off between reaction time and…

In this paper, we propose the Deep Structured self-Driving Network (DSDNet), which performs object detection, motion prediction, and motion planning with a single neural network. Towards this goal, we develop a deep structured energy based…

Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively make safe and informed decisions. In this paper, we propose…

Predicting the trajectories of surrounding agents is an essential ability for autonomous vehicles navigating through complex traffic scenes. The future trajectories of agents can be inferred using two important cues: the locations and past…

In autonomous driving, accurately interpreting the movements of other road users and leveraging this knowledge to forecast future trajectories is crucial. This is typically achieved through the integration of map data and tracked…

Driving in a dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision-making policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

In this paper, we introduce a novel approach for autonomous driving trajectory generation by harnessing the complementary strengths of diffusion probabilistic models (a.k.a., diffusion models) and transformers. Our proposed framework,…

The exploration of high-speed movement by robots or road traffic agents is crucial for autonomous driving and navigation. Trajectory prediction at high speeds requires considering historical features and interactions with surrounding…

Trajectory prediction has always been a challenging problem for autonomous driving, since it needs to infer the latent intention from the behaviors and interactions from traffic participants. This problem is intrinsically hard, because each…

Accurately forecasting traffic flows is critically important to many real applications including public safety and intelligent transportation systems. The challenges of this problem include both the dynamic mobility patterns of the people…

Autonomous transportation systems such as road vehicles or vessels require the consideration of the static and dynamic environment to dislocate without collision. Anticipating the behavior of an agent in a given situation is required to…

Effective and flexible allocation of visual attention is key for pedestrians who have to navigate to a desired goal under different conditions of urgency and safety preferences. While automatic modelling of pedestrian attention holds great…

An effective understanding of the contextual environment and accurate motion forecasting of surrounding agents is crucial for the development of autonomous vehicles and social mobile robots. This task is challenging since the behavior of an…

Future trajectories of neighboring traffic agents have a significant influence on the path planning and decision-making of autonomous vehicles. While trajectory forecasting is a well-studied field, research mainly focuses on snapshot-based…

We introduce a motion forecasting (behavior prediction) method that meets the latency requirements for autonomous driving in dense urban environments without sacrificing accuracy. A whole-scene sparse input representation allows StopNet to…

Current Deep Learning methods for environment segmentation and velocity estimation rely on Convolutional Recurrent Neural Networks to exploit spatio-temporal relationships within obtained sensor data. These approaches derive scene dynamics…

Crowd counting aims to predict the number of people and generate the density map in the image. There are many challenges, including varying head scales, the diversity of crowd distribution across images and cluttered backgrounds. In this…