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

Unmanned Aerial Systems for Wildland and Forest Fires

Wildfires represent an important natural risk causing economic losses, human death and important environmental damage. In recent years, we witness an increase in fire intensity and frequency. Research has been conducted towards the development of dedicated solutions for wildland and forest fire assistance and fighting. Systems were proposed for the remote detection and tracking of fires. These systems have shown improvements in the area of efficient data collection and fire characterization within small scale environments. However, wildfires cover large areas making some of the proposed ground-based systems unsuitable for optimal coverage. To tackle this limitation, Unmanned Aerial Systems (UAS) were proposed. UAS have proven to be useful due to their maneuverability, allowing for the implementation of remote sensing, allocation strategies and task planning. They can provide a low-cost alternative for the prevention, detection and real-time support of firefighting. In this paper we review previous work related to the use of UAS in wildfires. Onboard sensor instruments, fire perception algorithms and coordination strategies are considered. In addition, we present some of the recent frameworks proposing the use of both aerial vehicles and Unmanned Ground Vehicles (UV) for a more efficient wildland firefighting strategy at a larger scale.Comment: A recent published version of this paper is available at: https://doi.org/10.3390/drones501001

The Visual Social Distancing Problem

One of the main and most effective measures to contain the recent viral outbreak is the maintenance of the so-called Social Distancing (SD). To comply with this constraint, workplaces, public institutions, transports and schools will likely adopt restrictions over the minimum inter-personal distance between people. Given this actual scenario, it is crucial to massively measure the compliance to such physical constraint in our life, in order to figure out the reasons of the possible breaks of such distance limitations, and understand if this implies a possible threat given the scene context. All of this, complying with privacy policies and making the measurement acceptable. To this end, we introduce the Visual Social Distancing (VSD) problem, defined as the automatic estimation of the inter-personal distance from an image, and the characterization of the related people aggregations. VSD is pivotal for a non-invasive analysis to whether people comply with the SD restriction, and to provide statistics about the level of safety of specific areas whenever this constraint is violated. We then discuss how VSD relates with previous literature in Social Signal Processing and indicate which existing Computer Vision methods can be used to manage such problem. We conclude with future challenges related to the effectiveness of VSD systems, ethical implications and future application scenarios.Comment: 9 pages, 5 figures. All the authors equally contributed to this manuscript and they are listed by alphabetical order. Under submissio

Proceedings of the 2011 Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory

This book is a collection of 15 reviewed technical reports summarizing the presentations at the 2011 Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory. The covered topics include image processing, optical signal processing, visual inspection, pattern recognition and classification, human-machine interaction, world and situation modeling, autonomous system localization and mapping, information fusion, and trust propagation in sensor networks

Robust Moving Objects Detection in Lidar Data Exploiting Visual Cues

Detecting moving objects in dynamic scenes from sequences of lidar scans is an important task in object tracking, mapping, localization, and navigation. Many works focus on changes detection in previously observed scenes, while a very limited amount of literature addresses moving objects detection. The state-of-the-art method exploits Dempster-Shafer Theory to evaluate the occupancy of a lidar scan and to discriminate points belonging to the static scene from moving ones. In this paper we improve both speed and accuracy of this method by discretizing the occupancy representation, and by removing false positives through visual cues. Many false positives lying on the ground plane are also removed thanks to a novel ground plane removal algorithm. Efficiency is improved through an octree indexing strategy. Experimental evaluation against the KITTI public dataset shows the effectiveness of our approach, both qualitatively and quantitatively with respect to the state- of-the-art