相关论文: Deep Uncertainty-aware Tracking for Maneuvering Ta…

Methodologies for incorporating the uncertainties characteristic of data-driven object detectors into object tracking algorithms are explored. Object tracking methods rely on measurement error models, typically in the form of measurement…

In target tracking, the estimation of an unknown weaving target frequency is crucial for improving the miss distance. The estimation process is commonly carried out in a Kalman framework. The objective of this paper is to examine the…

In the application of computer-vision based displacement measurement, an optical target is usually required to prove the reference. In the case that the optical target cannot be attached to the measuring objective, edge detection, feature…

Reliable uncertainty quantification in deep neural networks is very crucial in safety-critical applications such as automated driving for trustworthy and informed decision-making. Assessing the quality of uncertainty estimates is…

Transformer-based trackers have achieved promising success and become the dominant tracking paradigm due to their accuracy and efficiency. Despite the substantial progress, most of the existing approaches tackle object tracking as a…

This paper presents an approach to trajectory-centric learning control based on contraction metrics and disturbance estimation for nonlinear systems subject to matched uncertainties. The approach uses deep neural networks to learn uncertain…

This paper considers the problem of detecting and tracking multiple maneuvering targets, which suffers from the intractable inference of high-dimensional latent variables that include target kinematic state, target visibility state, motion…

A comprehensive review of the literature on manoeuvring target tracking for both uncluttered and cluttered measurements is presented. Various discrete-time dynamical models including non-random input, random-input and switching or hybrid…

This paper introduces a novel deep learning based approach for vision based single target tracking. We address this problem by proposing a network architecture which takes the input video frames and directly computes the tracking score for…

Deep learning-based models have demonstrated remarkable success in solving illposed inverse problems; however, many fail to strictly adhere to the physical constraints imposed by the measurement process. In this work, we introduce a…

Deep learning models frequently make incorrect predictions with high confidence when presented with test examples that are not well represented in their training dataset. We propose a novel and straightforward approach to estimate…

This paper presents a novel guidance law for target tracking applications where the target motion model is unknown and sensor measurements are intermittent due to unknown environmental conditions and low measurement update rate. In this…

The tracking-by-detection paradigm is the mainstream in multi-object tracking, associating tracks to the predictions of an object detector. Although exhibiting uncertainty through a confidence score, these predictions do not capture the…

We present a method that uses high-resolution topography data of rough terrain, and ground vehicle simulation, to predict traversability. Traversability is expressed as three independent measures: the ability to traverse the terrain at a…

Multitarget Tracking (MTT) is the problem of tracking the states of an unknown number of objects using noisy measurements, with important applications to autonomous driving, surveillance, robotics, and others. In the model-based Bayesian…

Neural networks predictions are unreliable when the input sample is out of the training distribution or corrupted by noise. Being able to detect such failures automatically is fundamental to integrate deep learning algorithms into robotics.…

Extended target/object tracking (ETT) problem involves tracking objects which potentially generate multiple measurements at a single sensor scan. State-of-the-art ETT algorithms can efficiently exploit the available information in these…

Existing deep trackers mainly use convolutional neural networks pre-trained for generic object recognition task for representations. Despite demonstrated successes for numerous vision tasks, the contributions of using pre-trained deep…

The capability to autonomously track a non-cooperative target is a key technological requirement for micro aerial vehicles. In this paper, we propose an output feedback control scheme based on deep reinforcement learning for controlling a…

This paper proposes an improved prediction update for extended target tracking with the random matrix model. A key innovation is to employ a generalised non-central inverse Wishart distribution to model the state transition density of the…