相关论文: Convolutional Unscented Kalman Filter for Multi-Ob…

Robust and accurate navigation is critical for Unmanned Aerial Vehicles (UAVs) especially for those with stringent Size, Weight, and Power (SWaP) constraints. However, most state-of-the-art (SOTA) LiDAR-Inertial Odometry (LIO) systems still…

The Kalman filter is ubiquitous for state space models because of its desirable statistical properties, ease of implementation, and generally good performance. However, it can perform poorly in the presence of outliers, or measurements with…

Outliers can contaminate the measurement process of many nonlinear systems, which can be caused by sensor errors, model uncertainties, change in ambient environment, data loss or malicious cyber attacks. When the extended Kalman filter…

Indoor tracking and pose estimation, i.e., determining the position and orientation of a moving target, are increasingly important due to their numerous applications. While Inertial Navigation Systems (INS) provide high update rates, their…

The goal of multi-object tracking is to detect and track all objects in a scene while maintaining unique identifiers for each, by associating their bounding boxes across video frames. This association relies on matching motion and…

Multi-object tracking (MOT) from unmanned aerial vehicles (UAVs) presents unique challenges due to unpredictable object motion, frequent occlusions, and limited appearance cues inherent to aerial viewpoints. These issues are further…

The minimum error entropy (MEE) has been extensively used in unscented Kalman filter (UKF) to handle impulsive noises or abnormal measurement data in non-Gaussian systems. However, the MEE-UKF has poor numerical stability due to the inverse…

This paper presents a deep learning enhanced adaptive unscented Kalman filter (UKF) for predicting human arm motion in the context of manufacturing. Unlike previous network-based methods that solely rely on captured human motion data, which…

Multi-View Multi-Object Tracking (MV-MOT) aims to localize and maintain consistent identities of objects observed by multiple sensors. This task is challenging, as viewpoint changes and occlusion disrupt identity consistency across views…

Although the unscented Kalman filter (UKF) is applicable to nonlinear systems, it turns out that, for linear systems, UKF does not specialize to the classical Kalman filter. This situation suggests that it may be advantageous to modify UKF…

Without manually annotated identities, unsupervised multi-object trackers are inferior to learning reliable feature embeddings. It causes the similarity-based inter-frame association stage also be error-prone, where an uncertainty problem…

Recently, the Kernelized Correlation Filters tracker (KCF) achieved competitive performance and robustness in visual object tracking. On the other hand, visual trackers are not typically used in multiple object tracking. In this paper, we…

3D Multi-object tracking (MOT) ensures consistency during continuous dynamic detection, conducive to subsequent motion planning and navigation tasks in autonomous driving. However, camera-based methods suffer in the case of occlusions and…

Multiple object tracking (MOT) is the task containing detection and association. Plenty of trackers have achieved competitive performance. Unfortunately, for the lack of informative exchange on these subtasks, they are often biased toward…

Autonomous systems such as Unmanned Aerial Vehicles (UAVs) need to be able to recognise and track crowds of people, e.g. for rescuing and surveillance purposes. Large groups generate multiple measurements with uncertain origin.…

Multi-Object Tracking (MOT) is a critical problem in computer vision, essential for understanding how objects move and interact in videos. This field faces significant challenges such as occlusions and complex environmental dynamics,…

Visual object tracking (VOT) is an essential component for many applications, such as autonomous driving or assistive robotics. However, recent works tend to develop accurate systems based on more computationally expensive feature…

This paper addresses limitations in 3D tracking-by-detection methods, particularly in identifying legitimate trajectories and reducing state estimation drift in Kalman filters. Existing methods often use threshold-based filtering for…

Multi-object tracking plays a crucial role in various applications, such as autonomous driving and security surveillance. This study introduces Deep LG-Track, a novel multi-object tracker that incorporates three key enhancements to improve…

Facial landmark tracking plays a vital role in applications such as facial recognition, expression analysis, and medical diagnostics. In this paper, we consider the performance of the Extended Kalman Filter (EKF) and Unscented Kalman Filter…