相关论文: DeMo++: Motion Decoupling for Autonomous Driving
With the advancement of autonomous and assisted driving technologies, higher demands are placed on the ability to understand complex driving scenarios. Multimodal general large models have emerged as a solution for this challenge. However,…
Most modern multiple object tracking (MOT) systems follow the tracking-by-detection paradigm, consisting of a detector followed by a method for associating detections into tracks. There is a long history in tracking of combining motion and…
Segmentation of moving objects in dynamic scenes is a key process in scene understanding for navigation tasks. Classical cameras suffer from motion blur in such scenarios rendering them effete. On the contrary, event cameras, because of…
Predicting the possible future trajectories of the surrounding dynamic agents is an essential requirement in autonomous driving. These trajectories mainly depend on the surrounding static environment, as well as the past movements of those…
This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots…
Classical autonomous driving systems connect perception and prediction modules via hand-crafted bounding-box interfaces, limiting information flow and propagating errors to downstream tasks. Recent research aims to develop end-to-end models…
Urban traffic anomalies, such as collisions and disruptions, threaten the safety, efficiency, and sustainability of transportation systems. In this paper, we present a simulation-based framework for modeling, detecting, and predicting such…
This paper presents a novel integrated approach to deal with the decision making and motion planning for lane-change maneuvers of autonomous vehicle (AV) considering social behaviors of surrounding traffic occupants. Reflected by driving…
Sampling-based motion planning is an effective tool to compute safe trajectories for automated vehicles in complex environments. However, a fast convergence to the optimal solution can only be ensured with the use of problem-specific…
Trajectory forecasting, or trajectory prediction, of multiple interacting agents in dynamic scenes, is an important problem for many applications, such as robotic systems and autonomous driving. The problem is a great challenge because of…
Multi-person motion prediction remains a challenging problem, especially in the joint representation learning of individual motion and social interactions. Most prior methods only involve learning local pose dynamics for individual motion…
To plan a safe and efficient route, an autonomous vehicle should anticipate future motions of other agents around it. Motion prediction is an extremely challenging task that recently gained significant attention within the research…
Motion planning for autonomous driving must handle multiple plausible futures while remaining computationally efficient. Recent end-to-end systems and world-model-based planners predict rich multi-modal trajectories, but typically rely on…
Predicting the future motion of road participants is a critical task in autonomous driving. In this work, we address the challenge of low-quality generation of low-probability modes in multi-agent joint prediction. To tackle this issue, we…
Trajectory prediction is crucial for autonomous vehicles. The planning system not only needs to know the current state of the surrounding objects but also their possible states in the future. As for vehicles, their trajectories are…
Automated parking is a challenging operational domain for advanced driver assistance systems, requiring robust scene understanding and interaction reasoning. The key challenge is twofold: (i) predict multiple plausible ego intentions…
Connected and automated vehicles provide a new opportunity for highly advanced collision avoidance, in which several cars cooperate to reach an optimal overall outcome, that no single car acting in isolation could achieve. For example, one…
Predicting the motion of other road agents enables autonomous vehicles to perform safe and efficient path planning. This task is very complex, as the behaviour of road agents depends on many factors and the number of possible future…
Autonomous vehicles are expected to drive in complex scenarios with several independent non cooperating agents. Path planning for safely navigating in such environments can not just rely on perceiving present location and motion of other…
Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…