相关论文: A Certifiable Security Patch for Object Tracking i…
The goal of this paper is certifying safety of dynamical systems subject to uncertainty. Existing approaches use trajectory data to estimate transition probabilities, and compute safety probabilities recursively via dynamic programming…
Autonomous vehicles are increasingly deployed in safety-critical applications, where sensing failures or cyberphysical attacks can lead to unsafe operations resulting in human loss and/or severe physical damages. Reliable real-time…
Recent multi-object tracking (MOT) systems have leveraged highly accurate object detectors; however, training such detectors requires large amounts of labeled data. Although such data is widely available for humans and vehicles, it is…
Object detectors deployed in safety-critical environments can fail silently, e.g. missing pedestrians, workers, or other safety-critical objects without emitting any warning. Traditional Out Of Distribution (OOD) detection methods focus on…
Modern multi-object tracking (MOT) system usually involves separated modules, such as motion model for location and appearance model for data association. However, the compatible problems within both motion and appearance models are always…
Multi-object tracking (MOT) in video sequences remains a challenging task, especially in scenarios with significant camera movements. This is because targets can drift considerably on the image plane, leading to erroneous tracking outcomes.…
As the development of autonomous and connected vehicles advances, the complexity of modern vehicles increases, with numerous Electronic Control Units (ECUs) integrated into the system. In an in-vehicle network, these ECUs communicate with…
Visual detection is a key task in autonomous driving, and it serves as a crucial foundation for self-driving planning and control. Deep neural networks have achieved promising results in various visual tasks, but they are known to be…
Trajectory prediction forecasts nearby agents' moves based on their historical trajectories. Accurate trajectory prediction is crucial for autonomous vehicles. Existing attacks compromise the prediction model of a victim AV by directly…
Multi-Object Tracking (MOT) plays a crucial role in autonomous driving systems, as it lays the foundations for advanced perception and precise path planning modules. Nonetheless, single agent based MOT lacks in sensing surroundings due to…
With the advancement of affordable self-driving vehicles using complicated nonlinear optimization but limited computation resources, computation time becomes a matter of concern. Other factors such as actuator dynamics and actuator command…
Modern self-driving perception systems have been shown to improve upon processing complementary inputs such as LiDAR with images. In isolation, 2D images have been found to be extremely vulnerable to adversarial attacks. Yet, there have…
This paper presents a novel framework for track fitting which is usable in a wide range of experiments, independent of the specific event topology, detector setup, or magnetic field arrangement. This goal is achieved through a completely…
Target tracking has numerous significant civilian and military applications, and maintaining the visibility of the target plays a vital role in ensuring the success of the tracking task. Existing visibility-aware planners primarily focus on…
Modern multi-object tracking (MOT) systems usually model the trajectories by associating per-frame detections. However, when camera motion, fast motion, and occlusion challenges occur, it is difficult to ensure long-range tracking or even…
Multi-object tracking (MOT) aims to associate target objects across video frames in order to obtain entire moving trajectories. With the advancement of deep neural networks and the increasing demand for intelligent video analysis, MOT has…
Multiple-Object Tracking (MOT) is of crucial importance for applications such as retail video analytics and video surveillance. Object detectors are often the computational bottleneck of modern MOT systems, limiting their use for real-time…
Cameras capture images that are essential for many safety-critical tasks. To process these images, a complex pipeline with multiple layers is used. Security attacks on this pipeline can severely affect passenger safety and system…
The extensive application of unmanned aerial vehicles (UAVs) in military reconnaissance, environmental monitoring, and related domains has created an urgent need for accurate and efficient multi-object tracking (MOT) technologies, which are…
In this paper, a novel sensor fault detection, isolation and identification (FDII) strategy is proposed by using the multiple model (MM) approach. The scheme is based on multiple hybrid Kalman filters (HKF) which represents an integration…