相关论文: Probabilistic Trajectory GOSPA: A Metric for Uncer…

In machine learning, accurately predicting the probability that a specific input is correct is crucial for risk management. This process, known as uncertainty (or confidence) estimation, is particularly important in mission-critical…

Multi-object tracking in videos requires to solve a fundamental problem of one-to-one assignment between objects in adjacent frames. Most methods address the problem by first discarding impossible pairs whose feature distances are larger…

We introduce the Graph TT (GTT) and Graph OSPA (GOSPA) metrics based on optimal assignment, which allow us to compare not only the edge structures but also general vertex and edge attributes of graphs of possibly different sizes. We argue…

Accurate and robust tracking of surrounding road participants plays an important role in autonomous driving. However, there is usually no prior knowledge of the number of tracking targets due to object emergence, object disappearance and…

Trajectory optimization and model predictive control are essential techniques underpinning advanced robotic applications, ranging from autonomous driving to full-body humanoid control. State-of-the-art algorithms have focused on data-driven…

Gaussian Process (GP) models have also become extremely useful for optimization under uncertainty algorithms, especially where the objective functions are costly to compute. Yet, the more classical methods usually adopt strategies that, in…

Similarity distance measure between two trajectories is an essential tool to understand patterns in motion, for example, in Human-Robot Interaction or Imitation Learning. The problem has been faced in many fields, from Signal Processing,…

Capturing uncertainty in object detection is indispensable for safe autonomous driving. In recent years, deep learning has become the de-facto approach for object detection, and many probabilistic object detectors have been proposed.…

This paper addresses the trajectory-tracking problem for discrete-time linear time-invariant systems with bounded parametric uncertainty, subject to hard constraints on system states, control inputs, and input rates. Unlike existing…

Multi-Object Tracking (MOT) has been a long-standing challenge in video understanding. A natural and intuitive approach is to split this task into two parts: object detection and association. Most mainstream methods employ meticulously…

Autonomous systems, like vehicles or robots, require reliable, accurate, fast, resource-efficient, scalable, and low-latency trajectory predictions to get initial knowledge about future locations and movements of surrounding objects for…

This paper addresses the problem of both actively searching and tracking multiple unknown dynamic objects in a known environment with multiple cooperative autonomous agents with partial observability. The tracking of a target ends when the…

Multi-object tracking is an important ability for an autonomous vehicle to safely navigate a traffic scene. Current state-of-the-art follows the tracking-by-detection paradigm where existing tracks are associated with detected objects…

Accurate grasp force control is one of the key skills for ensuring successful and damage-free robotic grasping of objects. Although existing methods have conducted in-depth research on slip detection and grasping force planning, they often…

The field of multi-object tracking has recently seen a renewed interest in the good old schema of tracking-by-detection, as its simplicity and strong priors spare it from the complex design and painful babysitting of tracking-by-attention…

Prior arts in the field of motion predictions for autonomous driving tend to focus on finding a trajectory that is close to the ground truth trajectory. Such problem formulations and approaches, however, frequently lead to loss of diversity…

The resurgence of lunar operations requires advancements in cislunar navigation and Space Situational Awareness (SSA). Challenges associated to these tasks have created an interest in autonomous planning, navigation, and tracking…

Multi-Object Tracking (MOT) aims to maintain stable and uninterrupted trajectories for each target. Most state-of-the-art approaches first detect objects in each frame and then implement data association between new detections and existing…

The explosion in the availability of GPS-enabled devices has resulted in an abundance of trajectory data. In reality, however, majority of these trajectories are collected at a low sampling rate and only provide partial observations on…

A unified metric is given for the evaluation of object tracking systems. The metric is inspired by KL-divergence or relative entropy, which is commonly used to evaluate clustering techniques. Since tracking problems are fundamentally…