相关论文: MTP: Multi-Hypothesis Tracking and Prediction for …

Multi-object tracking (MOT) and trajectory prediction are two critical components in modern 3D perception systems that require accurate modeling of multi-agent interaction. We hypothesize that it is beneficial to unify both tasks under one…

Sparsity is a common issue in many trajectory datasets, including human mobility data. This issue frequently brings more difficulty to relevant learning tasks, such as trajectory imputation and prediction. Nowadays, little existing work…

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…

Multi-object tracking is a cornerstone capability of any robotic system. The quality of tracking is largely dependent on the quality of the detector used. In many applications, such as autonomous vehicles, it is preferable to over-detect…

Reasoning about vehicle path prediction is an essential and challenging problem for the safe operation of autonomous driving systems. There exist many research works for path prediction. However, most of them do not use lane information and…

3D multi-object tracking and trajectory prediction are two crucial modules in autonomous driving systems. Generally, the two tasks are handled separately in traditional paradigms and a few methods have started to explore modeling these two…

Tracking multiple particles in noisy and cluttered scenes remains challenging due to a combinatorial explosion of trajectory hypotheses, which scales super-exponentially with the number of particles and frames. The transformer architecture…

Head detection and tracking are essential for downstream tasks, but current methods often require large computational budgets, which increase latencies and ties up resources (e.g., processors, memory, and bandwidth). To address this, we…

In recent years, the integration of prediction and planning through neural networks has received substantial attention. Despite extensive studies on it, there is a noticeable gap in understanding the operation of such models within a…

3D multi-object tracking (MOT) and trajectory forecasting are two critical components in modern 3D perception systems. We hypothesize that it is beneficial to unify both tasks under one framework to learn a shared feature representation of…

Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…

Do all instances need inference through the big models for a correct prediction? Perhaps not; some instances are easy and can be answered correctly by even small capacity models. This provides opportunities for improving the computational…

Trajectory prediction seeks to forecast the future motion of dynamic entities, such as vehicles and pedestrians, given a temporal horizon of historical movement data and environmental context. A central challenge in this domain is the…

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…

This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with partial observability. The tracking of a target ends when the…

Multi-object tracking is an important ability for an autonomous vehicle to safely navigate a traffic scene. Current state-of-the-art follows the tracking-by-detection paradigm where existing tracks are associated with detected objects…

This paper considers the data association problem for multi-target tracking. Multiple hypothesis tracking is a popular algorithm for solving this problem but it is NP-hard and is is quite complicated for a large number of targets or for…

Trajectory prediction is an essential step in the pipeline of an autonomous vehicle. Inaccurate or inconsistent predictions regarding the movement of agents in its surroundings lead to poorly planned maneuvers and potentially dangerous…

Multi-target prediction (MTP) is concerned with the simultaneous prediction of multiple target variables of diverse type. Due to its enormous application potential, it has developed into an active and rapidly expanding research field that…

Accurately tracking and predicting behaviors of surrounding objects are key prerequisites for intelligent systems such as autonomous vehicles to achieve safe and high-quality decision making and motion planning. However, there still remain…