End-to-End Tracking and Semantic Segmentation Using Recurrent Neural Networks

In this work we present a novel end-to-end framework for tracking and classifying a robot's surroundings in complex, dynamic and only partially observable real-world environments. The approach deploys a recurrent neural network to filter an input stream of raw laser measurements in order to directly infer object locations, along with their identity in both visible and occluded areas. To achieve this we first train the network using unsupervised Deep Tracking, a recently proposed theoretical framework for end-to-end space occupancy prediction. We show that by learning to track on a large amount of unsupervised data, the network creates a rich internal representation of its environment which we in turn exploit through the principle of inductive transfer of knowledge to perform the task of it's semantic classification. As a result, we show that only a small amount of labelled data suffices to steer the network towards mastering this additional task. Furthermore we propose a novel recurrent neural network architecture specifically tailored to tracking and semantic classification in real-world robotics applications. We demonstrate the tracking and classification performance of the method on real-world data collected at a busy road junction. Our evaluation shows that the proposed end-to-end framework compares favourably to a state-of-the-art, model-free tracking solution and that it outperforms a conventional one-shot training scheme for semantic classification

Occlusion-Robust MVO: Multimotion Estimation Through Occlusion Via Motion Closure

Visual motion estimation is an integral and well-studied challenge in autonomous navigation. Recent work has focused on addressing multimotion estimation, which is especially challenging in highly dynamic environments. Such environments not only comprise multiple, complex motions but also tend to exhibit significant occlusion. Previous work in object tracking focuses on maintaining the integrity of object tracks but usually relies on specific appearance-based descriptors or constrained motion models. These approaches are very effective in specific applications but do not generalize to the full multimotion estimation problem. This paper presents a pipeline for estimating multiple motions, including the camera egomotion, in the presence of occlusions. This approach uses an expressive motion prior to estimate the SE (3) trajectory of every motion in the scene, even during temporary occlusions, and identify the reappearance of motions through motion closure. The performance of this occlusion-robust multimotion visual odometry (MVO) pipeline is evaluated on real-world data and the Oxford Multimotion Dataset.Comment: To appear at the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). An earlier version of this work first appeared at the Long-term Human Motion Planning Workshop (ICRA 2019). 8 pages, 5 figures. Video available at https://www.youtube.com/watch?v=o_N71AA6FR

A Generic Framework for Tracking Using Particle Filter With Dynamic Shape Prior

©2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or distribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.DOI: 10.1109/TIP.2007.894244Tracking deforming objects involves estimating the global motion of the object and its local deformations as functions of time. Tracking algorithms using Kalman filters or particle filters (PFs) have been proposed for tracking such objects, but these have limitations due to the lack of dynamic shape information. In this paper, we propose a novel method based on employing a locally linear embedding in order to incorporate dynamic shape information into the particle filtering framework for tracking highly deformable objects in the presence of noise and clutter. The PF also models image statistics such as mean and variance of the given data which can be useful in obtaining proper separation of object and backgroun

Data association and occlusion handling for vision-based people tracking by mobile robots

This paper presents an approach for tracking multiple persons on a mobile robot with a combination of colour and thermal vision sensors, using several new techniques. First, an adaptive colour model is incorporated into the measurement model of the tracker. Second, a new approach for detecting occlusions is introduced, using a machine learning classifier for pairwise comparison of persons (classifying which one is in front of the other). Third, explicit occlusion handling is incorporated into the tracker. The paper presents a comprehensive, quantitative evaluation of the whole system and its different components using several real world data sets

Multilinear Wavelets: A Statistical Shape Space for Human Faces

We present a statistical model for $3$D human faces in varying expression, which decomposes the surface of the face using a wavelet transform, and learns many localized, decorrelated multilinear models on the resulting coefficients. Using this model we are able to reconstruct faces from noisy and occluded $3$D face scans, and facial motion sequences. Accurate reconstruction of face shape is important for applications such as tele-presence and gaming. The localized and multi-scale nature of our model allows for recovery of fine-scale detail while retaining robustness to severe noise and occlusion, and is computationally efficient and scalable. We validate these properties experimentally on challenging data in the form of static scans and motion sequences. We show that in comparison to a global multilinear model, our model better preserves fine detail and is computationally faster, while in comparison to a localized PCA model, our model better handles variation in expression, is faster, and allows us to fix identity parameters for a given subject.Comment: 10 pages, 7 figures; accepted to ECCV 201

Deep Drone Racing: From Simulation to Reality with Domain Randomization

Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of autonomous, vision-based drone racing in dynamic environments. A racing drone must traverse a track with possibly moving gates at high speed. We enable this functionality by combining the performance of a state-of-the-art planning and control system with the perceptual awareness of a convolutional neural network (CNN). The resulting modular system is both platform- and domain-independent: it is trained in simulation and deployed on a physical quadrotor without any fine-tuning. The abundance of simulated data, generated via domain randomization, makes our system robust to changes of illumination and gate appearance. To the best of our knowledge, our approach is the first to demonstrate zero-shot sim-to-real transfer on the task of agile drone flight. We extensively test the precision and robustness of our system, both in simulation and on a physical platform, and show significant improvements over the state of the art.Comment: Accepted as a Regular Paper to the IEEE Transactions on Robotics Journal. arXiv admin note: substantial text overlap with arXiv:1806.0854