相关论文: Labeled random finite sets vs. trajectory random f…

We propose a scalable track-before-detect (TBD) tracking method based on a Poisson/multi-Bernoulli model. To limit computational complexity, we approximate the exact multi-Bernoulli mixture posterior probability density function (pdf) by a…

This paper presents a general solution for computing the multi-object posterior for sets of trajectories from a sequence of multi-object (unlabelled) filtering densities and a multi-object dynamic model. Importantly, the proposed solution…

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…

Multi-object tracking (MOT) is an important and practical task related to both surveillance systems and moving camera applications, such as autonomous driving and robotic vision. However, due to unreliable detection, occlusion and fast…

Multi-Object Tracking (MOT) is evolving from geometric localization to Semantic MOT (SMOT) to answer complex relational queries, yet progress is hindered by semantic data scarcity and a structural disconnect between tracking architectures…

We study the problem of learning a mixture of multiple linear dynamical systems (LDSs) from unlabeled short sample trajectories, each generated by one of the LDS models. Despite the wide applicability of mixture models for time-series data,…

Current statistical models for structured prediction make simplifying assumptions about the underlying output graph structure, such as assuming a low-order Markov chain, because exact inference becomes intractable as the tree-width of the…

We propose a novel paradigm of semi-supervised learning (SSL)--the semi-supervised multiple representation behavior learning (SSMRBL). SSMRBL aims to tackle the difficulty of learning a grammar for natural language parsing where the data…

The trajectory probability hypothesis density filter (TPHD) is capable of producing trajectory estimates in first principle without adding labels or tags. In this paper, we propose a new TPHD filter referred as MM-TPHD for jump Markov…

Multilabel Classification (MLC) deals with the simultaneous classification of multiple binary labels. The task is challenging because, not only may there be arbitrarily different and complex relationships between predictor variables and…

This paper considers the problem of the distributed fusion of multi-object posteriors in the labeled random finite set filtering framework, using Generalized Covariance Intersection (GCI) method. Our analysis shows that GCI fusion with…

This paper introduces the concept of a mean for trajectories and multi-object trajectories (defined as sets or multi-sets of trajectories) along with algorithms for computing them. Specifically, we use the Fr\'{e}chet mean, and metrics…

Urban intersections put high demands on fully automated vehicles, in particular, if occlusion occurs. In order to resolve such and support vehicles in unclear situations, a popular approach is the utilization of additional information from…

Passive multi-target tracking (MTT) aims to infer the kinematic states of multiple targets from noisy sensor data in which contributions from unknown target-emitted signals are superposed. Track-before-detect (TBD) methods improve…

We study the problem of searching for and tracking a collection of moving targets using a robot with a limited Field-Of-View (FOV) sensor. The actual number of targets present in the environment is not known a priori. We propose a search…

The probability hypothesis density (PHD) and Poisson multi-Bernoulli (PMB) filters are two popular set-type multi-object filters. Motivated by the fact that the multi-object filtering density after each update step in the PHD filter is a…

In this paper, we present an end-to-end multi-source Entity Matching problem, which we call entity group matching, where the goal is to assign to the same group, records originating from multiple data sources but representing the same…

Trajectory prediction serves as a critical functionality in autonomous driving, enabling the anticipation of future motion paths for traffic participants such as vehicles and pedestrians, which is essential for driving safety. Although…

Understanding the dynamics of an environment, such as the movement of humans and vehicles, is crucial for agents to achieve long-term autonomy in urban environments. This requires the development of methods to capture the multi-modal and…

This paper provides a scalable, multi-sensor measurement adaptive track initiation technique for labeled random finite set filters. A naive construction of the multi-sensor measurement adaptive birth set distribution leads to an exponential…