相关论文: Variational Tracking and Redetection for Closely-s…
Autonomous robots enjoy a wide popularity nowadays and have been applied in many applications, such as home security, entertainment, delivery, navigation and guidance. It is vital to robots to track objects accurately in these applications,…
The probability hypothesis density (PHD) and multi-target multi-Bernoulli (MeMBer) filters are two leading algorithms that have emerged from random finite sets (RFS). In this paper we study a method which combines these two approaches. Our…
This letter presents a versatile trajectory planning pipeline for aerial tracking. The proposed tracker is capable of handling various chasing settings such as complex unstructured environments, crowded dynamic obstacles and multiple-target…
Performing object retrieval in real-world workspaces must tackle challenges including \emph{uncertainty} and \emph{clutter}. One option is to apply prehensile operations, which can be time consuming in highly-cluttered scenarios. On the…
Video Panoptic Segmentation (VPS) aims to generate coherent panoptic segmentation and track the identities of all pixels across video frames. Existing methods predominantly utilize the trained instance embedding to keep the consistency of…
This paper proposes a nonparametric Bayesian framework called VariScan for simultaneous clustering, variable selection, and prediction in high-throughput regression settings. Poisson-Dirichlet processes are utilized to detect…
In this paper, we propose a novel effective non-rigid object tracking framework based on the spatial-temporal consistent saliency detection. In contrast to most existing trackers that utilize a bounding box to specify the tracked target,…
Stochastic sampling based trackers have shown good performance for abrupt motion tracking so that they have gained popularity in recent years. However, conventional methods tend to use a two-stage sampling paradigm, in which the search…
The process of association and tracking of sensor detections is a key element in providing situational awareness. When the targets in the scenario are dense and exhibit high maneuverability, Multi-Target Tracking (MTT) becomes a challenging…
Most of existing correlation filter-based tracking approaches only estimate simple axis-aligned bounding boxes, and very few of them is capable of recovering the underlying similarity transformation. To tackle this challenging problem, in…
In this work we introduce a mixture of GPs to address the data association problem, i.e. to label a group of observations according to the sources that generated them. Unlike several previously proposed GP mixtures, the novel mixture has…
This paper proposes an online visual multi-object tracking algorithm using a top-down Bayesian formulation that seamlessly integrates state estimation, track management, clutter rejection, occlusion and mis-detection handling into a single…
This paper considers the problem of retrieving an object from many tightly packed objects using a combination of robotic pushing and grasping actions. Object retrieval in dense clutter is an important skill for robots to operate in…
Recent work has demonstrated that graph neural networks (GNNs) can match the performance of traditional algorithms for charged particle tracking while improving scalability to meet the computing challenges posed by the HL-LHC. Most GNN…
Despite their theoretical advantages, track-before-detect (TBD) methods remain largely absent from real-world multi-target tracking applications due to their computational complexity and limited scalability. This paper presents a scalable…
Object detection and tracking is a key task in autonomy. Specifically, 3D object detection and tracking have been an emerging hot topic recently. Although various methods have been proposed for object detection, uncertainty in the 3D…
A decentralized Poisson multi-Bernoulli filter is proposed to track multiple vehicles using multiple high-resolution sensors. Independent filters estimate the vehicles' presence, state, and shape using a Gaussian process extent model; a…
This paper proposes a heterogenous density fusion approach to scalable multisensor multitarget tracking where the inter-connected sensors run different types of random finite set (RFS) filters according to their respective capacity and…
We propose a novel diverse feature selection method based on determinantal point processes (DPPs). Our model enables one to flexibly define diversity based on the covariance of features (similar to orthogonal matching pursuit) or…
We propose a novel online multi-target visual tracker based on the recently developed Hypothesized and Independent Stochastic Population (HISP) filter. The HISP filter combines advantages of traditional tracking approaches like MHT and…