相关论文: OOSTraj: Out-of-Sight Trajectory Prediction With V…

Trajectory prediction is a fundamental problem in computer vision, vision-language-action models, world models, and autonomous systems, with broad impact on autonomous driving, robotics, and surveillance. However, most existing methods…

Trajectory prediction plays a vital role in understanding pedestrian movement for applications such as autonomous driving and robotics. Current trajectory prediction models depend on long, complete, and accurately observed sequences from…

Motion prediction of vehicles is critical but challenging due to the uncertainties in complex environments and the limited visibility caused by occlusions and limited sensor ranges. In this paper, we study a new task, safety-aware motion…

Accurate trajectory prediction is essential for the safe operation of autonomous vehicles in real-world environments. Even well-trained machine learning models may produce unreliable predictions due to discrepancies between training data…

In autonomous driving, trajectory prediction is essential for safe and efficient navigation. While recent methods often rely on high-definition (HD) maps to provide structured environmental priors, such maps are costly to maintain,…

Previous visual object tracking methods employ image-feature regression models or coordinate autoregression models for bounding box prediction. Image-feature regression methods heavily depend on matching results and do not utilize…

Trajectory prediction is central to the safe and seamless operation of autonomous vehicles (AVs). In deployment, however, prediction models inevitably face distribution shifts between training data and real-world conditions, where rare or…

In this work we present a novel framework that uses deep learning to predict object feature points that are out-of-view in the input image. This system was developed with the application of model-based tracking in mind, particularly in the…

Safe navigation of self-driving cars and robots requires a precise understanding of their environment. Training data for perception systems cannot cover the wide variety of objects that may appear during deployment. Thus, reliable…

Autonomous aerial target tracking in unstructured and GPS-denied environments remains a fundamental challenge in robotics. Many existing methods rely on motion capture systems, pre-mapped scenes, or feature-based localization to ensure…

We tackle the problem of Human Locomotion Forecasting, a task for jointly predicting the spatial positions of several keypoints on the human body in the near future under an egocentric setting. In contrast to the previous work that aims to…

Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…

Accurate state and uncertainty estimation is imperative for mobile robots and self driving vehicles to achieve safe navigation in pedestrian rich environments. A critical component of state and uncertainty estimation for robot navigation is…

The capability to detect objects is a core part of autonomous driving. Due to sensor noise and incomplete data, perfectly detecting and localizing every object is infeasible. Therefore, it is important for a detector to provide the amount…

This paper jointly addresses three key limitations in conventional pedestrian trajectory forecasting: pedestrian perception errors, real-world data collection costs, and person ID annotation costs. We propose a novel framework, RealTraj,…

Unknown Object Detection (UOD) aims to identify objects of unseen categories, differing from the traditional detection paradigm limited by the closed-world assumption. A key component of UOD is learning a generalized representation, i.e.…

Trajectory recovery based on the snapshots from the city-wide multi-camera network facilitates urban mobility sensing and driveway optimization. The state-of-the-art solutions devoted to such a vision-based scheme typically incorporate…

A key component in autonomous driving is the ability of the self-driving car to understand, track and predict the dynamics of the surrounding environment. Although there is significant work in the area of object detection, tracking and…

Conventional camera-based 3D object detectors in autonomous driving are limited to recognizing a predefined set of objects, which poses a safety risk when encountering novel or unseen objects in real-world scenarios. To address this…

In autonomous driving, accurate motion prediction is crucial for safe and efficient motion planning. To ensure safety, planners require reliable uncertainty estimates of the predicted behavior of surrounding agents, yet this aspect has…