10 accepted papers
Robots navigating autonomously need to perceive and track the motion of objects and other agents in its surroundings. This information enables planning and executing robust and safe trajectories. To facilitate these processes, the motion should be perceived in 3D Cartesian space. However, most recen…
We present a navigation system that combines ideas from hierarchical planning and machine learning. The system uses a traditional global planner to compute optimal paths towards a goal, and a deep local trajectory planner and velocity controller to compute motion commands. The latter components of t…
Humans can routinely follow a trajectory defined by a list of images/landmarks. However, traditional robot navigation methods require accurate mapping of the environment, localization, and planning. Moreover, these methods are sensitive to subtle changes in the environment. In this letter, we propos
Intersection over Union (IoU) is the most popular evaluation metric used in the object detection benchmarks. However, there is a gap between optimizing the commonly used distance losses for regressing the parameters of a bounding box and maximizing this metric value. The optimal objective for a metr…
This paper addresses the problem of path prediction for multiple interacting agents in a scene, which is a crucial step for many autonomous platforms such as self-driving cars and social robots. We present SoPhie; an interpretable framework based on Generative Adversarial Network (GAN), which levera…
Predicting the future trajectories of multiple interacting pedestrians in a scene has become an increasingly important problem for many different applications ranging from control of autonomous vehicles and social robots to security and surveillance. This problem is compounded by the presence of soc…
We present VUNet, a novel view(VU) synthesis method for mobile robots in dynamic environments, and its application to the estimation of future traversability. Our method predicts future images for given virtual robot velocity commands using only RGB images at previous and current time steps. The fut
We present an interpretable framework for path prediction that leverages dependencies between agents' behaviors and their spatial navigation environment. We exploit two sources of information: the past motion trajectory of the agent of interest and a wide top-view image of the navigation scene. We p…
We present semi-supervised deep learning approaches for traversability estimation from fisheye images. Our method, GONet, and the proposed extensions leverage Generative Adversarial Networks (GANs) to effectively predict whether the area seen in the input image(s) is safe for a robot to traverse. Th…
The majority of existing solutions to the Multi-Target Tracking (MTT) problem do not combine cues over a long period of time in a coherent fashion. In this paper, we present an online method that encodes long-term temporal dependencies across multiple cues. One key challenge of tracking methods is t…