相关论文: Physical spline for denoising object trajectory da…

Optical flow is the pattern of apparent motion of objects in a scene. The computation of optical flow is a critical component in numerous computer vision tasks such as object detection, visual object tracking, and activity recognition.…

Reinforcement learning (RL) agents typically assume stationary environment dynamics. Yet in real-world applications such as healthcare, robotics, and finance, transition probabilities or reward functions may evolve, leading to model drift.…

Trajectory modeling of dense points usually employs implicit deformation fields, represented as neural networks that map coordinates to relate canonical spatial positions to temporal offsets. However, the inductive biases inherent in neural…

LiDAR scene flow estimation is essential for autonomous driving, as it provides 3D motion for each point. Self-supervised approaches use static-dynamic classification to mitigate the imbalance between static and dynamic points, deriving…

Formulas for stable differentiation of piecewise-smooth functions are given. The data are noisy values of these functions. The locations of discontinuity points and the sizes of the jumps across these points are not assumed known, but found…

Linear trajectory models provide mathematical advantages to autonomous driving applications such as motion prediction. However, linear models' expressive power and bias for real-world trajectories have not been thoroughly analyzed. We…

This short paper presents research findings on two learning-based methods for quantifying measurement uncertainties in global navigation satellite systems (GNSS). We investigate two learning strategies: offline learning for outlier…

Motivated by disease progression-related studies, we propose an estimation method for fitting general non-homogeneous multi-state Markov models. The proposal can handle many types of multi-state processes, with several states and various…

This letter presents a novel method for estimating the position, velocity, and acceleration of a moving target using range-based measurements. Although most existing studies focus on position and velocity estimation, the framework of this…

We present a mathematical and computational framework for the problem of learning a dynamical system from noisy observations of a few trajectories and subject to side information. Side information is any knowledge we might have about the…

When the dynamical data of a system only convey dynamic information over a limited operating range, the identification of models with good performance over a wider operating range is very unlikely. Nevertheless, models with such…

Non-linear dynamical systems represent a compact, flexible, and robust tool for reactive motion generation. The effectiveness of dynamical systems relies on their ability to accurately represent stable motions. Several approaches have been…

We propose a novel way of assessing and fusing noisy dynamic data using a Tsetlin Machine. Our approach consists in monitoring how explanations in form of logical clauses that a TM learns changes with possible noise in dynamic data. This…

Collecting realistic driving trajectories is crucial for training machine learning models that imitate human driving behavior. Most of today's autonomous driving datasets contain only a few trajectories per location and are recorded with…

Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…

We present a particle-based framework for estimating the position of a vehicle using map information and measurements of speed. Two measurement functions are considered. The first is based on the assumption that the lateral force on the…

This article proposes an improved trajectory optimization approach for stochastic optimal control of dynamical systems affected by measurement noise by combining optimal control with maximum likelihood techniques to improve the reduction of…

Trajectory prediction is fundamental in computer vision and autonomous driving, particularly for understanding pedestrian behavior and enabling proactive decision-making. Existing approaches in this field often assume precise and complete…

Accurately estimating data density is crucial for making informed decisions and modeling in various fields. This paper presents a novel nonparametric density estimation procedure that utilizes bivariate penalized spline smoothing over…

This paper introduces a novel numerical approach to achieving smooth lane-change trajectories in autonomous driving scenarios. Our trajectory generation approach leverages particle swarm optimization (PSO) techniques, incorporating Neural…