相关论文: A Semantic and Occlusion-Aware GM-PHD Filter

We propose a new framework that extends the standard Probability Hypothesis Density (PHD) filter for multiple targets having $N\geq2$ different types based on Random Finite Set theory, taking into account not only background clutter, but…

In its classical form, the Cardinalized Probability Hypothesis Density (CPHD) filter does not model the appearance of new targets through spawning, yet there are applications for which spawning models more appropriately account for newborn…

The Joint Detection and Embedding (JDE) framework has achieved remarkable progress for multiple object tracking. Existing methods often employ extracted embeddings to re-establish associations between new detections and previously disrupted…

Training deep learning models for semantic occupancy prediction is challenging due to factors such as a large number of occupancy cells, severe occlusion, limited visual cues, complicated driving scenarios, etc. Recent methods often adopt…

Object counting has achieved remarkable success on visible instances, yet state-of-the-art (SOTA) methods fail under occlusion. This failure stems from a fundamental architectural limitation where backbone networks encode occluding surfaces…

Navigating dynamic and unstructured environments poses significant challenges for autonomous robots, particularly due to the uncertainty introduced by occluded areas. Conventional sensing methods often fail to detect obstacles hidden behind…

We present a novel approach to template matching that is efficient, can handle partial occlusions, and comes with provable performance guarantees. A key component of the method is a reduction that transforms the problem of searching a…

In this work, a kernel-based Ensemble Gaussian Mixture Probability Hypothesis Density (EnGM-PHD) filter is presented for multi-target filtering applications. The EnGM-PHD filter combines the Gaussian-mixture-based techniques of the Gaussian…

An important and unsolved problem in computer vision is to ensure that the algorithms are robust to changes in image domains. We address this problem in the scenario where we have access to images from the target domains but no annotations.…

We study the problem of searching for and tracking a collection of moving targets using a robot with a limited Field-Of-View (FOV) sensor. The actual number of targets present in the environment is not known a priori. We propose a search…

The Gaussian Mixture Probability Hypothesis Density (GM-PHD) filter is an almost exact closed-form approximation to the Bayes-optimal multi-target tracking algorithm. Due to its optimality guarantees and ease of implementation, it has been…

Semantic occupancy prediction enables dense 3D geometric and semantic understanding for autonomous driving. However, existing camera-based approaches implicitly assume complete surround-view observations, an assumption that rarely holds in…

The 3D occupancy prediction task has witnessed remarkable progress in recent years, playing a crucial role in vision-based autonomous driving systems. While traditional methods are limited to fixed semantic categories, recent approaches…

The use of mobile robots in unstructured environments like the agricultural field is becoming increasingly common. The ability for such field robots to proactively identify and avoid failures is thus crucial for ensuring efficiency and…

Vision-based occupancy prediction, also known as 3D Semantic Scene Completion (SSC), presents a significant challenge in computer vision. Previous methods, confined to onboard processing, struggle with simultaneous geometric and semantic…

With the rapid development of deep learning, object detection and tracking play a vital role in today's society. Being able to identify and track all the pedestrians in the dense crowd scene with computer vision approaches is a typical…

We consider models for which it is important, early in processing, to estimate some variables with high precision, but perhaps at relatively low rates of recall. If some variables can be identified with near certainty, then they can be…

Autonomous vehicles must be capable of handling the occlusion of the environment to ensure safe and efficient driving. In urban environment, occlusion often arises due to other vehicles obscuring the perception of the ego vehicle. Since the…

We present a learning approach for localization and segmentation of objects in an image in a manner that is robust to partial occlusion. Our algorithm produces a bounding box around the full extent of the object and labels pixels in the…

Remote patient monitoring has emerged as a prominent non-invasive method, using digital technologies and computer vision (CV) to replace traditional invasive monitoring. While neonatal and pediatric departments embrace this approach,…