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

In this paper, we introduce a new technique that combines two popular methods to estimate uncertainty in object detection. Quantifying uncertainty is critical in real-world robotic applications. Traditional detection models can be ambiguous…

Tremendous efforts have been put forth on predicting pedestrian trajectory with generative models to accommodate uncertainty and multi-modality in human behaviors. An individual's inherent uncertainty, e.g., change of destination, can be…

Trajectory Prediction (TP) is an important research topic in computer vision and robotics fields. Recently, many stochastic TP models have been proposed to deal with this problem and have achieved better performance than the traditional…

Multiple Object Tracking (MOT) has witnessed remarkable advances in recent years. However, existing studies dominantly request prior knowledge of the tracking target, and hence may not generalize well to unseen categories. In contrast,…

Conventional multi-object tracking (MOT) systems are predominantly designed for pedestrian tracking and often exhibit limited generalization to other object categories. This paper presents a generalized tracking framework capable of…

A novel multi-task Gaussian process (GP) framework is proposed, by using a common mean process for sharing information across tasks. In particular, we investigate the problem of time series forecasting, with the objective to improve…

We study the tracking of a trajectory for a nonholonomic system by recasting the problem as an optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a nonholonomic…

Multiple instance data are sets or multi-sets of unordered elements. Using metrics or distances for sets, we propose an approach to several multiple instance learning tasks, such as clustering (unsupervised learning), classification…

Analyzing the dynamical properties of mobile objects requires to extract trajectories from recordings, which is often done by tracking movies. We compiled a database of two-dimensional movies for very different biological and physical…

In real-time trajectory planning for unmanned vehicles, on-board sensors, radars and other instruments are used to collect information on possible obstacles to be avoided and pathways to be followed. Since, in practice, observations of the…

We consider the problem of trajectory planning in an environment comprised of a set of obstacles with uncertain locations. While previous approaches model the uncertainties with a prescribed Gaussian distribution, we consider the realistic…

Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…

Despite the existence of different error metrics for trajectory evaluation in SLAM, their theoretical justifications and connections are rarely studied, and few methods handle temporal association properly. In this work, we propose to…

Improved communication systems, shrinking battery sizes and the price drop of tracking devices have led to an increasing availability of trajectory tracking data. These data are often analyzed to understand animal behavior. In this work, we…

The co-sparse analysis model for signals assumes that the signal of interest can be multiplied by an analysis dictionary \Omega, leading to a sparse outcome. This model stands as an interesting alternative to the more classical synthesis…

Monitoring machine learning models once they are deployed is challenging. It is even more challenging to decide when to retrain models in real-case scenarios when labeled data is beyond reach, and monitoring performance metrics becomes…

We present a distributed optimization algorithm for solving online personalized optimization problems over a network of computing and communicating nodes, each of which linked to a specific user. The local objective functions are assumed to…

In this paper we develop a novel, discrete-time optimal control framework for mechanical systems with uncertain model parameters. We consider finite-horizon problems where the performance index depends on the statistical moments of the…

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…

Geometric programming (GP) is a well-known optimization tool for dealing with a wide range of nonlinear optimization and engineering problems. In general, it is assumed that the parameters of a GP problem are deterministic and accurate.…