相关论文: Trajectory Adaptive Prediction for Moving Objects …

Background modeling is widely used for intelligent surveillance systems to detect moving targets by subtracting the static background components. Most roadside LiDAR object detection methods filter out foreground points by comparing new…

Pedestrian trajectory prediction is essential for collision avoidance in autonomous driving and robot navigation. However, predicting a pedestrian's trajectory in crowded environments is non-trivial as it is influenced by other pedestrians'…

In this paper, we describe work in progress towards a real-time vision-based traffic flow prediction (TFP) system. The proposed method consists of three elemental operators, that are dynamic texture model based motion segmentation, feature…

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…

Precisely modeling interactions and accurately predicting trajectories of surrounding vehicles are essential to the decision-making and path-planning of intelligent vehicles. This paper proposes a novel framework based on ensemble learning…

We present a novel formulation for motion planning under uncertainties based on variational inference where the optimal motion plan is modeled as a posterior distribution. We propose a Gaussian variational inference-based framework, termed…

This paper considers a scenario of pursuing a moving target that may switch behaviors due to external factors in a dynamic environment by motion estimation using visual sensors. First, we present an improved Visual Motion Observer with…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Enabling resilient autonomous motion planning requires robust predictions of surrounding road users' future behavior. In response to this need and the associated challenges, we introduce our model titled MTP-GO. The model encodes the scene…

We propose a learning-based method for light-path construction in path tracing algorithms, which iteratively optimizes and samples from what we refer to as spatio-directional Gaussian mixture models (SDMMs). In particular, we approximate…

To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…

Motion prediction of surrounding agents is an important task in context of autonomous driving since it is closely related to driver's safety. Vehicle Motion Prediction (VMP) track of Shifts Challenge focuses on developing models which are…

This work introduces an adaptive Bayesian algorithm for real-time trajectory prediction via intention inference, where a target's intentions and motion characteristics are unknown and subject to change. The method concurrently estimates two…

We consider the estimation of an i.i.d. (possibly non-Gaussian) vector $\xbf \in \R^n$ from measurements $\ybf \in \R^m$ obtained by a general cascade model consisting of a known linear transform followed by a probabilistic componentwise…

Forecasting future trajectories of agents in complex traffic scenes requires reliable and efficient predictions for all agents in the scene. However, existing methods for trajectory prediction are either inefficient or sacrifice accuracy.…

Ensemble learning is a mainstay in modern data science practice. Conventional ensemble algorithms assign to base models a set of deterministic, constant model weights that (1) do not fully account for individual models' varying accuracy…

Data-driven models of robot motion constructed using principles from Geometric Mechanics have been shown to produce useful predictions of robot motion for a variety of robots. For robots with a useful number of DoF, these geometric…

Predicting transportation modes from GPS (Global Positioning System) records is a hot topic in the trajectory mining domain. Each GPS record is called a trajectory point and a trajectory is a sequence of these points. Trajectory mining has…

Accurate prediction of pedestrian trajectories is crucial for improving the safety of autonomous driving. However, this task is generally nontrivial due to the inherent stochasticity of human motion, which naturally requires the predictor…

Predicting ego vehicle trajectories remains a critical challenge, especially in urban and dense areas due to the unpredictable behaviours of other vehicles and pedestrians. Multimodal trajectory prediction enhances decision-making by…