相关论文: CrowdSurfer: Sampling Optimization Augmented with …

The mainstream crowd counting methods usually utilize the convolution neural network (CNN) to regress a density map, requiring point-level annotations. However, annotating each person with a point is an expensive and laborious process.…

Navigating through dense human crowds remains a significant challenge for mobile robots. A key issue is the freezing robot problem, where the robot struggles to find safe motions and becomes stuck within the crowd. To address this, we…

Crowdsourcing provides an efficient label collection schema for supervised machine learning. However, to control annotation cost, each instance in the crowdsourced data is typically annotated by a small number of annotators. This creates a…

Seamlessly operating an autonomous vehicle in a crowded pedestrian environment is a very challenging task. This is because human movement and interactions are very hard to predict in such environments. Recent work has demonstrated that…

Autonomous driving systems require a comprehensive understanding of the environment, achieved by extracting visual features essential for perception, planning, and control. However, models trained solely on single-task objectives or generic…

Route planning is important in transportation. Existing works focus on finding the shortest path solution or using metrics such as safety and energy consumption to determine the planning. It is noted that most of these studies rely on prior…

Crowd instance segmentation is a crucial task with a wide range of applications, including surveillance and transportation. Currently, point labels are common in crowd datasets, while region labels (e.g., boxes) are rare and inaccurate. The…

Integrating artificial intelligence (AI) into sampling-based motion planning provides new possibilities for improving autonomous navigation efficiency. In this paper, three algorithms, namely RRT*, Neural RRT*, and Neural Informed RRT*, are…

Navigation is an essential capability for mobile robots. In this paper, we propose a generalized yet effective 3M (i.e., multi-robot, multi-scenario, and multi-stage) training framework. We optimize a mapless navigation policy with a robust…

We focus on robot navigation in crowded environments. To navigate safely and efficiently within crowds, robots need models for crowd motion prediction. Building such models is hard due to the high dimensionality of multiagent domains and…

This paper presents a learning-augmented trajectory planning framework for cooperative unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) handover missions. While centralized trajectory optimization ensures dynamic feasibility…

With multiple crowd gatherings of millions of people every year in events ranging from pilgrimages to protests, concerts to marathons, and festivals to funerals; visual crowd analysis is emerging as a new frontier in computer vision. In…

Tracking congestion throughout the network road is a critical component of Intelligent transportation network management systems. Understanding how the traffic flows and short-term prediction of congestion occurrence due to rush-hour or…

In recent years, great efforts have been devoted to deep imitation learning for autonomous driving control, where raw sensory inputs are directly mapped to control actions. However, navigating through densely populated intersections remains…

We present a novel, realtime algorithm to compute the trajectory of each pedestrian in moderately dense crowd scenes. Our formulation is based on an adaptive particle filtering scheme that uses a multi-agent motion model based on…

Autonomous agents such as cars, robots and drones need to precisely localize themselves in diverse environments, including in GPS-denied indoor environments. One approach for precise localization is visual place recognition (VPR), which…

This study enhances a crowd density estimation algorithm originally designed for image-based analysis by adapting it for video-based scenarios. The proposed method integrates a denoising probabilistic model that utilizes diffusion processes…

In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…

The hierarchy of global and local planners is one of the most commonly utilized system designs in autonomous robot navigation. While the global planner generates a reference path from the current to goal locations based on the pre-built…

Robots such as autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs) have been used for sensing and monitoring aquatic environments such as oceans and lakes. Environmental sampling is a challenging task because the…