相关论文: Learning Occupancy Priors of Human Motion from Sem…

Critical for the coexistence of humans and robots in dynamic environments is the capability for agents to understand each other's actions, and anticipate their movements. This paper presents Stochastic Process Anticipatory Navigation…

Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…

Long-term situation prediction plays a crucial role in the development of intelligent vehicles. A major challenge still to overcome is the prediction of complex downtown scenarios with multiple road users, e.g., pedestrians, bikes, and…

Identifying the distribution of users' transportation modes is an essential part of travel demand analysis and transportation planning. With the advent of ubiquitous GPS-enabled devices (e.g., a smartphone), a cost-effective approach for…

We tackle the long-term prediction of scene evolution in a complex downtown scenario for automated driving based on Lidar grid fusion and recurrent neural networks (RNNs). A bird's eye view of the scene, including occupancy and velocity, is…

Accurate prediction of driving scenes is essential for road safety and autonomous driving. Occupancy Grid Maps (OGMs) are commonly employed for scene prediction due to their structured spatial representation, flexibility across sensor…

Trajectory prediction aims to predict the movement trend of the agents like pedestrians, bikers, vehicles. It is helpful to analyze and understand human activities in crowded spaces and widely applied in many areas such as surveillance…

This paper reports on a data-driven, interaction-aware motion prediction approach for pedestrians in environments cluttered with static obstacles. When navigating in such workspaces shared with humans, robots need accurate motion…

This paper describes a system whereby a robot detects and track human-meaningful navigational cues as it navigates in an indoor environment. It is intended as the sensor front-end for a mobile robot system that can communicate its…

Representing relevant information of a traffic scene and understanding its environment is crucial for the success of autonomous driving. Modeling the surrounding of an autonomous car using semantic relations, i.e., how different traffic…

A clear understanding of where humans move in a scenario, their usual paths and speeds, and where they stop, is very important for different applications, such as mobility studies in urban areas or robot navigation tasks within…

Semantic 3D mapping can be used for many applications such as robot navigation and virtual interaction. In recent years, there has been great progress in semantic segmentation and geometric 3D mapping. However, it is still challenging to…

This paper proposes a convolutional neural network (CNN)-based method that learns traffic as images and predicts large-scale, network-wide traffic speed with a high accuracy. Spatiotemporal traffic dynamics are converted to images…

Dense 3D semantic occupancy perception is critical for mobile robots operating in pedestrian-rich environments, yet it remains underexplored compared to its application in autonomous driving. To address this gap, we present MobileOcc, a…

Human motion modeling is a classic problem in computer vision and graphics. Challenges in modeling human motion include high dimensional prediction as well as extremely complicated dynamics.We present a novel approach to human motion…

Human motion prediction is still an open problem extremely important for autonomous driving and safety applications. Due to the complex spatiotemporal relation of motion sequences, this remains a challenging problem not only for movement…

This paper presents an end-to-end approach for tracking static and dynamic objects for an autonomous vehicle driving through crowded urban environments. Unlike traditional approaches to tracking, this method is learned end-to-end, and is…

3D semantic occupancy prediction aims to forecast detailed geometric and semantic information of the surrounding environment for autonomous vehicles (AVs) using onboard surround-view cameras. Existing methods primarily focus on intricate…

How do humans navigate to target objects in novel scenes? Do we use the semantic/functional priors we have built over years to efficiently search and navigate? For example, to search for mugs, we search cabinets near the coffee machine and…

Vision-based 3D semantic occupancy prediction is vital for autonomous driving, enabling unified modeling of static infrastructure and dynamic agents. Global occupancy maps serve as long-term memory priors, providing valuable historical…