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

This paper introduces MCTrack, a new 3D multi-object tracking method that achieves state-of-the-art (SOTA) performance across KITTI, nuScenes, and Waymo datasets. Addressing the gap in existing tracking paradigms, which often perform well…

Vehicle trajectory prediction plays a vital role in intelligent transportation systems and autonomous driving, as it significantly affects vehicle behavior planning and control, thereby influencing traffic safety and efficiency. Numerous…

This paper describes a flexible framework for generalized low-rank tensor estimation problems that includes many important instances arising from applications in computational imaging, genomics, and network analysis. The proposed estimator…

In this thesis a probabilistic framework is developed and proposed for Dynamic Object Recognition in 3D Environments. A software package is developed using C++ and Python in ROS that performs the detection and tracking task. Furthermore, a…

The problem of simultaneous trajectography of several dynamical objects is formulated as an optimization problem. The available observations consist in a series of photographs showing undiscriminated objects. The goal is to find the object…

Collision prediction in a dynamic and unknown environment relies on knowledge of how the environment is changing. Many collision prediction methods rely on deterministic knowledge of how obstacles are moving in the environment. However,…

This paper addresses the observability analysis and the optimal design of observation parameters in the presence of noisy measurements and parametric uncertainties. The main underlying frameworks are the nonlinear constrained moving horizon…

To plan safe trajectories in urban environments, autonomous vehicles must be able to quickly assess the future intentions of dynamic agents. Pedestrians are particularly challenging to model, as their motion patterns are often uncertain…

The human visual system tracks objects by integrating current observations with previously observed information, adapting to target and scene changes, and reasoning about occlusion at fine granularity. In contrast, recent generic object…

We present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of the framework is a novel trajectory representation built upon…

This article presents a novel approach, named MCMP (Monte Carlo Motion Planning), to the problem of motion planning under uncertainty, i.e., to the problem of computing a low-cost path that fulfills probabilistic collision avoidance…

Conformal prediction (CP) quantifies the uncertainty of machine learning models by constructing sets of plausible outputs. These sets are constructed by leveraging a so-called conformity score, a quantity computed using the input point of…

Machine learning classifiers are probabilistic in nature, and thus inevitably involve uncertainty. Predicting the probability of a specific input to be correct is called uncertainty (or confidence) estimation and is crucial for risk…

A commonly-used representation for motion prediction of actors is a sequence of waypoints (comprising positions and orientations) for each actor at discrete future time-points. While this approach is simple and flexible, it can exhibit…

Object tracking is one of the fundamental problems in visual recognition tasks and has achieved significant improvements in recent years. The achievements often come with the price of enormous hardware consumption and expensive labor effort…

Modern trajectory optimization based approaches to motion planning are fast, easy to implement, and effective on a wide range of robotics tasks. However, trajectory optimization algorithms have parameters that are typically set in advance…

Enabling resilient autonomous motion planning requires robust predictions of surrounding road users' future behavior. In response to this need and the associated challenges, we introduce our model titled MTP-GO. The model encodes the scene…

The ability for an autonomous agent or robot to track and identify potentially multiple objects in a dynamic environment is essential for many applications, such as automated surveillance, traffic monitoring, human-robot interaction, etc.…

This paper presents a computationally efficient multi-object tracking approach that can minimise track breaks (e.g., in challenging environments and against agile targets), learn the measurement model parameters on-line (e.g., in…

We present the Goal Uncertain Stochastic Shortest Path (GUSSP) problem -- a general framework to model path planning and decision making in stochastic environments with goal uncertainty. The framework extends the stochastic shortest path…