相关论文: Mahalanobis Distance-based Multi-view Optimal Tran…

Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to…

Crowd counting has recently attracted increasing interest in computer vision but remains a challenging problem. In this paper, we propose a trellis encoder-decoder network (TEDnet) for crowd counting, which focuses on generating…

The integration of Unmanned Aerial Vehicles(UAVs) into Intelligent Transportation Systems (ITS) offers synoptic visibility for traffic monitoring, yet scalable deployment is hindered by trajectory fragmentation, where vehicle identity…

In this paper, we propose a novel methodology for path planning and scheduling for multi-robot navigation that is based on optimal transport theory and model predictive control. We consider a setup where $N$ robots are tasked to navigate to…

Multi-Object Tracking (MOT) has gained extensive attention in recent years due to its potential applications in traffic and pedestrian detection. We note that tracking by detection may suffer from errors generated by noise detectors, such…

The availability of city-scale Lidar maps enables the potential of city-scale place recognition using mobile cameras. However, the city-scale Lidar maps generally need to be compressed for storage efficiency, which increases the difficulty…

We consider the problem of tracking a group of mobile nodes with limited available computational and energy resources given noisy RSSI measurements and position estimates from group members. The multilateration solutions are known for…

Human pose estimation in complicated situations has always been a challenging task. Many Transformer-based pose networks have been proposed recently, achieving encouraging progress in improving performance. However, the remarkable…

Recognizing places from an opposing viewpoint during a return trip is a common experience for human drivers. However, the analogous robotics capability, visual place recognition (VPR) with limited field of view cameras under 180 degree…

We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable…

The capacitated location-routing problem involves determining the depots from a set of candidate capacitated depot locations and finding the required routes from the selected depots to serve a set of customers whereas minimizing a cost…

Mobile robots have become more and more popular in large-scale and crowded environments, such as airports, shopping malls, etc. However, due to sparse landmarks and crowd noise, localization in this environment is a great challenge.…

Optimal transport aligns samples across distributions by minimizing the transportation cost between them, e.g., the geometric distances. Yet, it ignores coherence structure in the data such as clusters, does not handle outliers well, and…

Object detection is an important task in environment perception for autonomous driving. Modern 2D object detection frameworks such as Yolo, SSD or Faster R-CNN predict multiple bounding boxes per object that are refined using…

This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…

We provide a rigorous mathematical treatment to the crowding issue in data visualization when high dimensional data sets are projected down to low dimensions for visualization. By properly adjusting the capacity of high dimensional balls,…

Unmanned Aerial Vehicle (UAV) swarm systems necessitate efficient collaborative perception mechanisms for diverse operational scenarios. Current Bird's Eye View (BEV)-based approaches exhibit two main limitations: bounding-box…

Being able to predict the crowd flows in each and every part of a city, especially in irregular regions, is strategically important for traffic control, risk assessment, and public safety. However, it is very challenging because of…

In recent years, there have been efforts to collect human contact traces during social events (e.g., conferences) using Bluetooth devices (e.g., mobile phones, iMotes). The results of these studies have enabled the ability to do the…

In this paper, we address the novel, highly challenging problem of estimating the layout of a complex urban driving scenario. Given a single color image captured from a driving platform, we aim to predict the bird's-eye view layout of the…