4,100 research outputs found
Social Attention: Modeling Attention in Human Crowds
Robots that navigate through human crowds need to be able to plan safe,
efficient, and human predictable trajectories. This is a particularly
challenging problem as it requires the robot to predict future human
trajectories within a crowd where everyone implicitly cooperates with each
other to avoid collisions. Previous approaches to human trajectory prediction
have modeled the interactions between humans as a function of proximity.
However, that is not necessarily true as some people in our immediate vicinity
moving in the same direction might not be as important as other people that are
further away, but that might collide with us in the future. In this work, we
propose Social Attention, a novel trajectory prediction model that captures the
relative importance of each person when navigating in the crowd, irrespective
of their proximity. We demonstrate the performance of our method against a
state-of-the-art approach on two publicly available crowd datasets and analyze
the trained attention model to gain a better understanding of which surrounding
agents humans attend to, when navigating in a crowd
Event-based Vision: A Survey
Event cameras are bio-inspired sensors that differ from conventional frame
cameras: Instead of capturing images at a fixed rate, they asynchronously
measure per-pixel brightness changes, and output a stream of events that encode
the time, location and sign of the brightness changes. Event cameras offer
attractive properties compared to traditional cameras: high temporal resolution
(in the order of microseconds), very high dynamic range (140 dB vs. 60 dB), low
power consumption, and high pixel bandwidth (on the order of kHz) resulting in
reduced motion blur. Hence, event cameras have a large potential for robotics
and computer vision in challenging scenarios for traditional cameras, such as
low-latency, high speed, and high dynamic range. However, novel methods are
required to process the unconventional output of these sensors in order to
unlock their potential. This paper provides a comprehensive overview of the
emerging field of event-based vision, with a focus on the applications and the
algorithms developed to unlock the outstanding properties of event cameras. We
present event cameras from their working principle, the actual sensors that are
available and the tasks that they have been used for, from low-level vision
(feature detection and tracking, optic flow, etc.) to high-level vision
(reconstruction, segmentation, recognition). We also discuss the techniques
developed to process events, including learning-based techniques, as well as
specialized processors for these novel sensors, such as spiking neural
networks. Additionally, we highlight the challenges that remain to be tackled
and the opportunities that lie ahead in the search for a more efficient,
bio-inspired way for machines to perceive and interact with the world
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
Object Referring in Videos with Language and Human Gaze
We investigate the problem of object referring (OR) i.e. to localize a target
object in a visual scene coming with a language description. Humans perceive
the world more as continued video snippets than as static images, and describe
objects not only by their appearance, but also by their spatio-temporal context
and motion features. Humans also gaze at the object when they issue a referring
expression. Existing works for OR mostly focus on static images only, which
fall short in providing many such cues. This paper addresses OR in videos with
language and human gaze. To that end, we present a new video dataset for OR,
with 30, 000 objects over 5, 000 stereo video sequences annotated for their
descriptions and gaze. We further propose a novel network model for OR in
videos, by integrating appearance, motion, gaze, and spatio-temporal context
into one network. Experimental results show that our method effectively
utilizes motion cues, human gaze, and spatio-temporal context. Our method
outperforms previousOR methods. For dataset and code, please refer
https://people.ee.ethz.ch/~arunv/ORGaze.html.Comment: Accepted to CVPR 2018, 10 pages, 6 figure
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