相关论文: RSPT: Reconstruct Surroundings and Predict Traject…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…
End-to-end production of object tracklets from high resolution video in real-time and with high accuracy remains a challenging problem due to the cost of object detection on each frame. In this work we present Localization-based Tracking…
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…
Referring Multi-Object Tracking (RMOT) aims to achieve precise object detection and tracking through natural language instructions, representing a fundamental capability for intelligent robotic systems. However, current RMOT research…
Multiple Object Tracking (MOT) aims to find bounding boxes and identities of targeted objects in consecutive video frames. While fully-supervised MOT methods have achieved high accuracy on existing datasets, they cannot generalize well on a…
Cameras are increasingly being deployed in cities, enterprises and roads world-wide to enable many applications in public safety, intelligent transportation, retail, healthcare and manufacturing. Often, after initial deployment of the…
We tackle the problem of joint perception and motion forecasting in the context of self-driving vehicles. Towards this goal we propose PnPNet, an end-to-end model that takes as input sequential sensor data, and outputs at each time step…
Vision-language tracking aims to locate the target object in the video sequence using a template patch and a language description provided in the initial frame. To achieve robust tracking, especially in complex long-term scenarios that…
Object detection has long been a topic of high interest in computer vision literature. Motivated by the fact that annotating data for the multi-object tracking (MOT) problem is immensely expensive, recent studies have turned their attention…
Template-matching methods for visual tracking have gained popularity recently due to their comparable performance and fast speed. However, they lack effective ways to adapt to changes in the target object's appearance, making their tracking…
This paper addresses the motion control problem for mobile robots in obstacle-cluttered environments. The mobile robot has partial environment information only, and aims to move from an initial position to a target position without…
This paper presents a novel algorithm, called MRRT, which uses multiple rapidly-exploring random trees for fast online replanning of autonomous vehicles in dynamic environments with moving obstacles. The proposed algorithm is built upon the…
We present a challenging and realistic novel dataset for evaluating 6-DOF object tracking algorithms. Existing datasets show serious limitations---notably, unrealistic synthetic data, or real data with large fiducial markers---preventing…
Online multi-object tracking (MOT) is a longstanding task for computer vision and intelligent vehicle platform. At present, the main paradigm is tracking-by-detection, and the main difficulty of this paradigm is how to associate current…
This paper addresses the challenge of achieving reliable and robust positioning of a mobile agent, such as a radio device carried by a person, in scenarios where direct line-of-sight (LOS) links are obstructed or unavailable. The human body…
Visual search is important in our daily life. The efficient allocation of visual attention is critical to effectively complete visual search tasks. Prior research has predominantly modelled the spatial allocation of visual attention in…
New transformer networks have been integrated into object tracking pipelines and have demonstrated strong performance on the latest benchmarks. This paper focuses on understanding how transformer trackers behave under adversarial attacks…
As the application scenarios of mobile robots are getting more complex and challenging, scene understanding becomes increasingly crucial. A mobile robot that is supposed to operate autonomously in indoor environments must have precise…
We address the problem of motion planning for four-way intersection crossings with right-of-ways. Road safety typically assigns liability to the follower in rear-end collisions and to the approaching vehicle required to yield in side…
Precise arbitrary trajectory tracking for quadrotors is challenging due to unknown nonlinear dynamics, trajectory infeasibility, and actuation limits. To tackle these challenges, we present Deep Adaptive Trajectory Tracking (DATT), a…