5 accepted papers
This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in social navigation metrics such as success rate, navigation…
We present a simple, fast, and light-weight RNN based framework for forecasting future locations of humans in first person monocular videos. The primary motivation for this work was to design a network which could accurately predict future trajectories at a very high rate on a CPU. Typical applicati…
In urban driving scenarios, forecasting future trajectories of surrounding vehicles is of paramount importance. While several approaches for the problem have been proposed, the best-performing ones tend to require extremely detailed input representations (e.g. image sequences). As a result, such met…
This paper introduces geometry and object shape and pose costs for multi-object tracking in urban driving scenarios. Using images from a monocular camera alone, we devise pairwise costs for object tracks, based on several 3D cues such as object pose, shape, and motion. The proposed costs are agnosti…
Accurate localization of other traffic participants is a vital task in autonomous driving systems. State-of-the-art systems employ a combination of sensing modalities such as RGB cameras and LiDARs for localizing traffic participants, but monocular localization demonstrations have been confined to p…