In the near future, more and more machines will perform tasks in the vicinity of human spaces or support them directly in their spatially bound activities. In order to simplify the verbal communication and the interaction between robotic units and/or humans, reliable and robust systems w.r.t. noise and processing results are needed. This work builds a foundation to address this task. By using a continuous representation of spatial perception in interiors learned from trajectory data, our approach clusters movement in dependency to its spatial context. We propose an unsupervised learning approach based on a neural autoencoding that learns semantically meaningful continuous encodings of spatio-temporal trajectory data. This learned encoding can be used to form prototypical representations. We present promising results that clear the path for future applications.
University of Gothenburg（哥德堡大学）；RISE Research Institutes of Sweden（瑞典RISE研究院）；Zenseact AB（Zenseact公司）；Kognic AB（Kognic公司）
Software that contains machine learning algorithms is an integral part of automotive perception, for example, in driving automation systems. The development of such software, specifically the training and validation of the machine learning components, require large annotated datasets. An industry of data and annotation services has emerged to serve the development of such data-intensive automotive software components. Wide-spread difficulties to specify data and annotation needs challenge collaborations between OEMs (Original Equipment Manufacturers) and their suppliers of software components,…
The music genre perception expressed through human annotations of artists or albums varies significantly across language-bound cultures. These variations cannot be modeled as mere translations since we also need to account for cultural differences in the music genre perception. In this work, we study the feasibility of obtaining relevant cross-lingual, culture-specific music genre annotations based only on language-specific semantic representations, namely distributed concept embeddings and ontologies. Our study, focused on six languages, shows that unsupervised cross-lingual music genre annot…
Department of Aeronautics and Astronautics, Massachusetts Institute of Technology（航空与航天系，麻省理工学院）；Institute for Research in Technology, ICAI School of Engineering, Comillas Pontifical University (Spain)（技术研究所，ICAI工程学院，Comillas天主教大学（西班牙））
Unified Linear Parametric Map Modeling and Perception-aware Trajectory Planning for Mobile Robotics
School of Information Science and Engineering, Shenyang University of Technology（沈阳理工大学信息科学与工程学院）；State Key Laboratory of Synthetic Automation for Process Industries, Northeastern University（东北大学过程工业综合自动化重点实验室）；State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences（中国科学院沈阳自动化研究所机器人重点实验室）；University of Chinese Academy of Sciences（中国科学院大学）
Toyota Research Institute（丰田研究院）；NVIDIA Research（英伟达研究院）；Stanford University（斯坦福大学）
Reasoning about the future behavior of other agents is critical to safe robot navigation. The multiplicity of plausible futures is further amplified by the uncertainty inherent to agent state estimation from data, including positions, velocities, and semantic class. Forecasting methods, however, typically neglect class uncertainty, conditioning instead only on the agent's most likely class, even though perception models often return full class distributions. To exploit this information, we present HAICU, a method for heterogeneous-agent trajectory forecasting that explicitly incorporates agent…
A First Physical-World Trajectory Prediction Attack via LiDAR-induced Deceptions in Autonomous Driving
City University of Hong Kong（香港城市大学）；State University of New York at Buffalo（纽约州立大学布法罗分校）；Delft University of Technology（代尔夫特理工大学）；Nanyang Technological University（南洋理工大学）；Hon Hai Research Institute（鸿海研究院）；Feng Chia University（逢甲大学）
Enhancing Large Vision Model in Street Scene Semantic Understanding through Leveraging Posterior Optimization Trajectory
Department of Electrical and Electronic Engineering, The University of Hong Kong（香港大学电子与电气工程系）；Shenzhen Research Institute of Big Data（大数据研究深圳研究所）；Department of Computer Science and Engineering, Southern University of Science and Technology（南方科技大学计算机科学与工程系）；Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究所）
Stanford University（斯坦福大学）；University of California, Berkeley（加州大学伯克利分校）；Toyota Research Institute（丰田研究院）
We tackle the problem of Human Locomotion Forecasting, a task for jointly predicting the spatial positions of several keypoints on the human body in the near future under an egocentric setting. In contrast to the previous work that aims to solve either the task of pose prediction or trajectory forecasting in isolation, we propose a framework to unify the two problems and address the practically useful task of pedestrian locomotion prediction in the wild. Among the major challenges in solving this task is the scarcity of annotated egocentric video datasets with dense annotations for pose, depth…
Peking University（北京大学）；Technical University of Munich（慕尼黑工业大学）
Semantic place annotation can provide individual semantics, which can be of great help in the field of trajectory data mining. Most existing methods rely on annotated or external data and require retraining following a change of region, thus preventing their large-scale applications. Herein, we propose an unsupervised method denoted as UPAPP for the semantic place annotation of trajectories using spatiotemporal information. The Bayesian Criterion is specifically employed to decompose the spatiotemporal probability of the candidate place into spatial probability, duration probability, and visit…
In supervised learning, low quality annotations lead to poorly performing classification and detection models, while also rendering evaluation unreliable. This is particularly apparent on temporal data, where annotation quality is affected by multiple factors. For example, in the post-hoc self-reporting of daily activities, cognitive biases are one of the most common ingredients. In particular, reporting the start and duration of an activity after its finalisation may incorporate biases introduced by personal time perceptions, as well as the imprecision and lack of granularity due to time roun…
