26,669 research outputs found
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
Survey on Vision-based Path Prediction
Path prediction is a fundamental task for estimating how pedestrians or
vehicles are going to move in a scene. Because path prediction as a task of
computer vision uses video as input, various information used for prediction,
such as the environment surrounding the target and the internal state of the
target, need to be estimated from the video in addition to predicting paths.
Many prediction approaches that include understanding the environment and the
internal state have been proposed. In this survey, we systematically summarize
methods of path prediction that take video as input and and extract features
from the video. Moreover, we introduce datasets used to evaluate path
prediction methods quantitatively.Comment: DAPI 201
Environmental modeling and recognition for an autonomous land vehicle
An architecture for object modeling and recognition for an autonomous land vehicle is presented. Examples of objects of interest include terrain features, fields, roads, horizon features, trees, etc. The architecture is organized around a set of data bases for generic object models and perceptual structures, temporary memory for the instantiation of object and relational hypotheses, and a long term memory for storing stable hypotheses that are affixed to the terrain representation. Multiple inference processes operate over these databases. Researchers describe these particular components: the perceptual structure database, the grouping processes that operate over this, schemas, and the long term terrain database. A processing example that matches predictions from the long term terrain model to imagery, extracts significant perceptual structures for consideration as potential landmarks, and extracts a relational structure to update the long term terrain database is given
'Part'ly first among equals: Semantic part-based benchmarking for state-of-the-art object recognition systems
An examination of object recognition challenge leaderboards (ILSVRC,
PASCAL-VOC) reveals that the top-performing classifiers typically exhibit small
differences amongst themselves in terms of error rate/mAP. To better
differentiate the top performers, additional criteria are required. Moreover,
the (test) images, on which the performance scores are based, predominantly
contain fully visible objects. Therefore, `harder' test images, mimicking the
challenging conditions (e.g. occlusion) in which humans routinely recognize
objects, need to be utilized for benchmarking. To address the concerns
mentioned above, we make two contributions. First, we systematically vary the
level of local object-part content, global detail and spatial context in images
from PASCAL VOC 2010 to create a new benchmarking dataset dubbed PPSS-12.
Second, we propose an object-part based benchmarking procedure which quantifies
classifiers' robustness to a range of visibility and contextual settings. The
benchmarking procedure relies on a semantic similarity measure that naturally
addresses potential semantic granularity differences between the category
labels in training and test datasets, thus eliminating manual mapping. We use
our procedure on the PPSS-12 dataset to benchmark top-performing classifiers
trained on the ILSVRC-2012 dataset. Our results show that the proposed
benchmarking procedure enables additional differentiation among
state-of-the-art object classifiers in terms of their ability to handle missing
content and insufficient object detail. Given this capability for additional
differentiation, our approach can potentially supplement existing benchmarking
procedures used in object recognition challenge leaderboards.Comment: Extended version of our ACCV-2016 paper. Author formatting modifie
Embodied Question Answering
We present a new AI task -- Embodied Question Answering (EmbodiedQA) -- where
an agent is spawned at a random location in a 3D environment and asked a
question ("What color is the car?"). In order to answer, the agent must first
intelligently navigate to explore the environment, gather information through
first-person (egocentric) vision, and then answer the question ("orange").
This challenging task requires a range of AI skills -- active perception,
language understanding, goal-driven navigation, commonsense reasoning, and
grounding of language into actions. In this work, we develop the environments,
end-to-end-trained reinforcement learning agents, and evaluation protocols for
EmbodiedQA.Comment: 20 pages, 13 figures, Webpage: https://embodiedqa.org
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