相关论文: GOHOME: Graph-Oriented Heatmap Output for future M…

Many language-guided robotic systems rely on collapsing spatial reasoning into discrete points, making them brittle to perceptual noise and semantic ambiguity. To address this challenge, we propose RoboMAP, a framework that represents…

There is a recent surge in the development of spatio-temporal forecasting models in the transportation domain. Long-range traffic forecasting, however, remains a challenging task due to the intricate and extensive spatio-temporal…

Predicting the motion of multiple traffic participants has always been one of the most challenging tasks in autonomous driving. The recently proposed occupancy flow field prediction method has shown to be a more effective and scalable…

We present a visually grounded hierarchical planning algorithm for long-horizon manipulation tasks. Our algorithm offers a joint framework of neuro-symbolic task planning and low-level motion generation conditioned on the specified goal. At…

Human Pose Estimation is a crucial module in human-machine interaction applications and, especially since the rise in deep learning technology, robust methods are available to consumers using RGB cameras and commercial GPUs. On the other…

In this paper, we investigate the problem of anticipating future dynamics, particularly the future location of other vehicles and pedestrians, in the view of a moving vehicle. We approach two fundamental challenges: (1) the partial…

Human pose estimation - the process of recognizing human keypoints in a given image - is one of the most important tasks in computer vision and has a wide range of applications including movement diagnostics, surveillance, or self-driving…

Urban land use inference is a critically important task that aids in city planning and policy-making. Recently, the increased use of sensor and location technologies has facilitated the collection of multi-modal mobility data, offering…

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…

Recently, most of the state-of-the-art human pose estimation methods are based on heatmap regression. The final coordinates of keypoints are obtained by decoding heatmap directly. In this paper, we aim to find a better approach to get more…

Accurate prediction of driving scene is a challenging task due to uncertainty in sensor data, the complex behaviors of agents, and the possibility of multiple feasible futures. Existing prediction methods using occupancy grid maps primarily…

One of the primal challenges faced by utility companies is ensuring efficient supply with minimal greenhouse gas emissions. The advent of smart meters and smart grids provide an unprecedented advantage in realizing an optimised supply of…

Accurately modelling human attention is essential for numerous computer vision applications, particularly in the domain of automotive safety. Existing methods typically collapse gaze into saliency maps or scanpaths, treating gaze dynamics…

Risk assessment of roadways is commonly practiced based on historical crash data. Information on driver behaviors and real-time traffic situations is sometimes missing. In this paper, the Safe Route Mapping (SRM) model, a methodology for…

Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…

Autonomous agents rely on sensor data to construct representations of their environments, essential for predicting future events and planning their actions. However, sensor measurements suffer from limited range, occlusions, and sensor…

Traditional traffic prediction, limited by the scope of sensor data, falls short in comprehensive traffic management. Mobile networks offer a promising alternative using network activity counts, but these lack crucial directionality. Thus,…

We present an innovative framework for traffic dynamics analysis using High-Order Evolving Graphs, designed to improve spatio-temporal representations in autonomous driving contexts. Our approach constructs temporal bidirectional bipartite…

As urban environments manifest high levels of complexity it is of vital importance that safety systems embedded within autonomous vehicles (AVs) are able to accurately anticipate short-term future motion of nearby agents. This problem can…

In this paper, we propose a modular framework for 6D pose estimation based on keypoint heatmap regression. Our approach combines YOLOv10m for object detection with a ResNet18-based network that predicts 2D heatmaps from RGB images.…