相关论文: Walking = Traversable? : Traversability Prediction…

In this paper, we present a real-time robust multi-view pedestrian detection and tracking system for video surveillance using neural networks which can be used in dynamic environments. The proposed system consists of two phases: multi-view…

Most modern multi-object tracking (MOT) systems follow the tracking-by-detection paradigm. It first localizes the objects of interest, then extracting their individual appearance features to make data association. The individual features,…

Human crowds exhibit a wide range of interesting patterns, and measuring them is of great interest in areas ranging from psychology and social science to civil engineering. While \textit{in situ} measurements of human crowd patterns require…

For humans, object detection, recognition, and tracking are innate. These provide the ability for human to perceive their environment and objects within their environment. This ability however doesn't translate well in computers. In…

Human trajectory prediction has received increased attention lately due to its importance in applications such as autonomous vehicles and indoor robots. However, most existing methods make predictions based on human-labeled trajectories and…

For robots to operate effectively and safely alongside humans, they must be able to understand the progress of ongoing actions. This ability, known as action progress prediction, is critical for tasks ranging from timely assistance to…

We present a planning framework designed for humanoid navigation over challenging terrain. This framework is designed to plan a traversable, smooth, and collision-free path using a 2.5D height map. The planner is comprised of two stages.…

Multi-Object Tracking in thermal images is essential for surveillance systems, particularly in challenging environments where RGB cameras struggle due to low visibility or poor lighting conditions. Thermal sensors enhance recognition tasks…

This paper introduces the problem of multiple object forecasting (MOF), in which the goal is to predict future bounding boxes of tracked objects. In contrast to existing works on object trajectory forecasting which primarily consider the…

With the rapid commoditization of wearable sensors, detecting human movements from sensor datasets has become increasingly common over a wide range of applications. To detect activities, data scientists iteratively experiment with different…

This paper addresses the problem of multi-view people occupancy map estimation. Existing solutions for this problem either operate per-view, or rely on a background subtraction pre-processing. Both approaches lessen the detection…

Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…

We address the problem of tracking the 6-DoF pose of an object while it is being manipulated by a human or a robot. We use a dynamic Bayesian network to perform inference and compute a posterior distribution over the current object pose.…

Smooth and seamless robot navigation while interacting with humans depends on predicting human movements. Forecasting such human dynamics often involves modeling human trajectories (global motion) or detailed body joint movements (local…

The interest in 3D dynamical tracking is growing in fields such as robotics, biology and fluid dynamics. Recently, a major source of progress in 3D tracking has been the study of collective behaviour in biological systems, where the…

Multiple human tracking is a fundamental problem for scene understanding. Although both accuracy and speed are required in real-world applications, recent tracking methods based on deep learning have focused on accuracy and require…

A first-principle single-object model is proposed for pedestrian tracking. It is assumed that the extent of the moving object can be described via known statistics in 3D, such as pedestrian height. The proposed model thus need not constrain…

Common fully glazed facades and transparent objects present architectural barriers and impede the mobility of people with low vision or blindness, for instance, a path detected behind a glass door is inaccessible unless it is correctly…

Many methods exist to model and track deformable one-dimensional objects (e.g., cables, ropes, and threads) across a stream of video frames. However, these methods depend on the existence of some initial conditions. To the best of our…

While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…