相关论文: ViewBirdiformer: Learning to recover ground-plane …

We introduce view birdification, the problem of recovering ground-plane movements of people in a crowd from an ego-centric video captured from an observer (e.g., a person or a vehicle) also moving in the crowd. Recovered ground-plane…

We introduce an on-ground Pedestrian World Model, a computational model that can predict how pedestrians move around an observer in the crowd on the ground plane, but from just the egocentric-views of the observer. Our model, InCrowdFormer,…

Multi-view crowd tracking estimates each person's tracking trajectories on the ground of the scene. Recent research works mainly rely on CNNs-based multi-view crowd tracking architectures, and most of them are evaluated and compared on…

An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…

Safe and efficient crowd navigation for mobile robot is a crucial yet challenging task. Previous work has shown the power of deep reinforcement learning frameworks to train efficient policies. However, their performance deteriorates when…

Generating a bird's eye view of road users is beneficial for a variety of applications, including navigation, detecting agent conflicts, and measuring space occupancy, as well as the ability to utilise the metric system to measure distances…

Trajectory prediction is, naturally, a key task for vehicle autonomy. While the number of traffic rules is limited, the combinations and uncertainties associated with each agent's behaviour in real-world scenarios are nearly impossible to…

In this paper, we address the problem of forecasting the trajectory of an egocentric camera wearer (ego-person) in crowded spaces. The trajectory forecasting ability learned from the data of different camera wearers walking around in the…

3D visual perception tasks, including 3D detection and map segmentation based on multi-camera images, are essential for autonomous driving systems. In this work, we present a new framework termed BEVFormer, which learns unified BEV…

Robot navigation in crowded pedestrian environments is a well-known challenge and we explore the practical deployment of group-based representations in this setting. Pedestrian groups have been empirically shown to enable a mobile robot's…

In nature, the collective behavior of animals, such as flying birds is dominated by the interactions between individuals of the same species. However, the study of such behavior among the bird species is a complex process that humans cannot…

Automated capture of animal pose is transforming how we study neuroscience and social behavior. Movements carry important social cues, but current methods are not able to robustly estimate pose and shape of animals, particularly for social…

Predicting pedestrian behavior is a crucial task for intelligent driving systems. Accurate predictions require a deep understanding of various contextual elements that potentially impact the way pedestrians behave. To address this…

We present WidthFormer, a novel transformer-based module to compute Bird's-Eye-View (BEV) representations from multi-view cameras for real-time autonomous-driving applications. WidthFormer is computationally efficient, robust and does not…

Monitoring aerial objects is crucial for security, wildlife conservation, and environmental studies. Traditional RGB-based approaches struggle with challenges such as scale variations, motion blur, and high-speed object movements,…

This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of…

Future trajectory prediction of a tracked pedestrian from an egocentric perspective is a key task in areas such as autonomous driving and robot navigation. The challenge of this task lies in the complex dynamic relative motion between the…

Bird's-eye-view (BEV) images have been widely demonstrated to provide valuable prior information for navigation. Given the global information provided by such views, two key challenges remain: how to fully exploit this information and how…

Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…

The ability to reliably perceive the environmental states, particularly the existence of objects and their motion behavior, is crucial for autonomous driving. In this work, we propose an efficient deep model, called MotionNet, to jointly…