相关论文: Gr-IoU: Ground-Intersection over Union for Robust …

The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…

3D multi-object tracking (MOT) is a key problem for autonomous vehicles, required to perform well-informed motion planning in dynamic environments. Particularly for densely occupied scenes, associating existing tracks to new detections…

Tracking the 6DoF pose of unknown objects in monocular RGB video sequences is crucial for robotic manipulation. However, existing approaches typically rely on accurate depth information, which is non-trivial to obtain in real-world…

We present Boundary IoU (Intersection-over-Union), a new segmentation evaluation measure focused on boundary quality. We perform an extensive analysis across different error types and object sizes and show that Boundary IoU is significantly…

Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…

Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…

LiDAR-Inertial Odometry (LIO) is widely used for accurate state estimation and mapping which is an essential requirement for autonomous robots. Conventional LIO methods typically rely on formulating constraints from the geometric structure…

We present a method to perform online Multiple Object Tracking (MOT) of known object categories in monocular video data. Current Tracking-by-Detection MOT approaches build on top of 2D bounding box detections. In contrast, we exploit…

Recent works have shown that combining object detection and tracking tasks, in the case of video data, results in higher performance for both tasks, but they require a high frame-rate as a strict requirement for performance. This is…

Without densely tiled anchor boxes or grid points in the image, sparse R-CNN achieves promising results through a set of object queries and proposal boxes updated in the cascaded training manner. However, due to the sparse nature and the…

Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…

As a critical task in autonomous driving perception systems, 3D object detection is used to identify and track key objects, such as vehicles and pedestrians. However, detecting distant, small, or occluded objects (hard instances) remains a…

Data association across frames is at the core of Multiple Object Tracking (MOT) task. This problem is usually solved by a traditional graph-based optimization or directly learned via deep learning. Despite their popularity, we find some…

Crowdedness caused by overlapping among similar objects is a ubiquitous challenge in the field of 2D visual object detection. In this paper, we first underline two main effects of the crowdedness issue: 1) IoU-confidence correlation…

Unmanned aerial vehicles (UAVs) with mounted cameras have the advantage of capturing aerial (bird-view) images. The availability of aerial visual data and the recent advances in object detection algorithms led the computer vision community…

In current perception systems applied to the rebuilding of the environment for intelligent vehicles, the part reserved to object association for the tracking is increasingly significant. This allows firstly to follow the objects temporal…

We present a novel method for 6-DoF object tracking and high-quality 3D reconstruction from monocular RGBD video. Existing methods, while achieving impressive results, often struggle with complex objects, particularly those exhibiting…

In this paper, we propose the methods to handle temporal errors during multi-object tracking. Temporal error occurs when objects are occluded or noisy detections appear near the object. In those situations, tracking may fail and various…

Multi-object tracking (MOT) is a rising topic in video processing technologies and has important application value in consumer electronics. Currently, tracking-by-detection (TBD) is the dominant paradigm for MOT, which performs target…

In this paper, we address the vision-based detection and tracking problems of multiple aerial vehicles using a single camera and Inertial Measurement Unit (IMU) as well as the corresponding perception consensus problem (i.e., uniqueness and…