Publications related to Collision detection

Social-Transmotion: Promptable Human Trajectory Prediction

Alexandre Massoud Alahi, Saeed Saadatnejad, Yang Gao, Kaouther Messaoud Ben Amor

Accurate human trajectory prediction is crucial for applications such as autonomous vehicles, robotics, and surveillance systems. Yet, existing models often fail to fully leverage the non-verbal social cues human subconsciously communicate when navigating ...

2024

Rigidity-Aware Detection for 6D Object Pose Estimation

Mathieu Salzmann, Yinlin Hu, Jingyu Li, Rui Song

Most recent 6D object pose estimation methods first use object detection to obtain 2D bounding boxes before actually regressing the pose. However, the general object detection methods they use are ill-suited to handle cluttered scenes, thus producing poor ...

Ieee Computer Soc2023

Learning Transformations To Reduce the Geometric Shift in Object Detection

Mathieu Salzmann, Martin Pierre Engilberge, Vidit Vidit

The performance of modern object detectors drops when the test distribution differs from the training one. Most of the methods that address this focus on object appearance changes caused by, e.g., different illumination conditions, or gaps between syntheti ...

Ieee Computer Soc2023

Implicit Distance Functions: Learning and Applications in Robotics

Mikhail Koptev

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

EPFL2023

AN UNSUPERVISED METHOD FOR THE DETECTION OF AND TRACKING OF TARGETS IN SPOTLIGHT MODE SAR IMAGES

Lloyd Haydn Hughes

Taking advantage of Capella's ability to dwell on a target for an extended period of time (nominally 30s) in its spotlight (SP) mode, an unsupervised methodology for detecting moving targets in this data is presented in this paper. By colourizing short seg ...

IEEE2023

Automated post-earthquake damage assessment of stone masonry buildings integrating machine learning, computer vision, and physics-based modeling

Bryan German Pantoja Rosero

Current post-earthquake damage assessment methodologies are not only time-consuming but also subjective in nature and difficult to document. Recent advancements in artificial intelligence and technological devices make it possible to accomplish this task a ...

EPFL2023

Radatron: Accurate Detection Using Multi-resolution Cascaded MIMO Radar

Haitham Al Hassanieh, Junfeng Guan, Seyedsohrab Madani, Saurabh Gupta, Waleed Ahmed

Millimeter wave (mmWave) radars are becoming a more popular sensing modality in self-driving cars due to their favorable characteristics in adverse weather. Yet, they currently lack sufficient spatial resolution for semantic scene understanding. In this pa ...

SPRINGER INTERNATIONAL PUBLISHING AG2022

Pedestrian 3D Bounding Box Prediction

Alexandre Massoud Alahi, Saeed Saadatnejad, Yi Zhou Ju

Safety is still the main issue of autonomous driving, and in order to be globally deployed, they need to predict pedestrians' motions sufficiently in advance. While there is a lot of research on coarse-grained (human center prediction) and fine-grained pre ...

2022

Unsupervised Visual Entity Abstraction towards 2D and 3D Compositional Models

Beril Besbinar

Object-centric learning has gained significant attention over the last years as it can serve as a powerful tool to analyze complex scenes as a composition of simpler entities. Well-established tasks in computer vision, such as object detection or instance ...

EPFL2022

Vision-based Flocking in Aerial Robot Swarms

Fabian Maximilian Schilling

Aerial robot swarms have the potential to perform time-critical and dangerous tasks such as disaster response without compromising human safety. However, their reliance on external infrastructure such as global positioning for localization and wireless net ...

EPFL2022

Blind as a Bat: Audible Echolocation on Small Robots

Martin Vetterli, Mihailo Kolundzija, Adrien Guillaume Olivier Hoffet, Adam James Scholefield, Frederike Dümbgen

For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization, and mapping. Although robots are often equipped with microphones and speakers, the audio modality ...

2022

Reactive Navigation in Crowds for Non-holonomic Robots with Convex Bounding Shape

Aude Billard, Diego Felipe Paez Granados, David Julian Gonon

This paper describes a novel method for non-holonomic robots of convex shape to avoid imminent collisions with moving obstacles. The method's purpose is to assist navigation in crowds by correcting steering from the robot's path planner or driver. We evalu ...

2021

Real-time high-resolution omnidirectional imaging platform for drone detection and tracking

Jean-Philippe Thiran, Selman Ergünay, Yusuf Leblebici, Vladan Popovic, Bilal Demir, Gökçen Nurlu

Drones have become steadily affordable, which raises privacy and security concerns as well as interest in drone detection systems. On the other hand, drone detection is a challenging task due to small dimensions of drones, difficulty of long-distance detec ...

SPRINGER HEIDELBERG2020

Adaptive Isogeometric Methods With Hierarchical Splines: An Overview

Annalisa Buffa, Rafael Vazquez Hernandez

We consider an adaptive isogeometric method (AIGM) based on (truncated) hierarchical B-splines and present the study of its numerical properties. By following [10, 12, 11], optimal convergence rates of the AIGM can be proved when suitable approximation cla ...

2019

Point cloud quality evaluation: Towards a definition for test conditions

Touradj Ebrahimi, Evangelos Alexiou, Rafael Xavier Meriade Duarte

Recently stakeholders in the area of multimedia representation and transmission have been looking at plenoptic technologies to improve immersive experience. Among these technologies, point clouds denote a volumetric information representation format with i ...

2019

A low-cost, autonomous mobile platform for limnological investigations, supported by high-resolution mesoscale airborne imagery

David Andrew Barry, Ulrich Lemmin, Htet Kyi Wynn, Anton Ivanov, Beat Marcel Geissmann, Abolfazl Irani Rahaghi, Stepan Tulyakov, Philippe Olivier Paccaud, Ludovic Zulliger, Nawaaz Sidharth Gujja Shaik, Jean-Luc Liardon, Jérôme Béguin, Pascal Klaus

Two complementary measurement systems – built upon an autonomous floating craft and a tethered balloon – for lake research and monitoring are presented. The autonomous vehicle was assembled on a catamaran for stability, and is capable of handling a variety ...

2019

Target Detection with Deep Learning in Polarimetric Imaging

Selman Ergünay, Yusuf Leblebici, Süha Kagan Köse

Polarimetric imaging techniques demonstrate enhanced capabilities in advanced object detection tasks with their capability to discriminate man-made objects from natural background surfaces. While spectral signatures carry information only about material pr ...

SPIE-INT SOC OPTICAL ENGINEERING2018

Real-Time Seamless Single Shot 6D Object Pose Prediction

Pascal Fua, Bugra Tekin, Sudipta Sinha

We propose a single-shot approach for simultaneously detecting an object in an RGB image and predicting its 6D pose without requiring multiple stages or having to examine multiple hypotheses. Unlike a recently proposed single-shot technique for this task [ ...

2018

3D Box Proposals from a Single Monocular Image of an Indoor Scene

Mathieu Salzmann, Wei Zhuo

Modern object detection methods typically rely on bounding box proposals as input. While initially popularized in the 2D case, this idea has received increasing attention for 3D bounding boxes. Nevertheless, existing 3D box proposal techniques all assume h ...

ASSOC ADVANCEMENT ARTIFICIAL INTELLIGENCE2018

Obstacle detection for lake-deployed autonomous surface vehicles using RGB imagery

David Andrew Barry, Philippe Olivier Paccaud

We describe and test an obstacle-detection system for small, lake-deployed autonomous surface vehicles (ASVs) that relies on a low-cost, consumer-grade camera and runs on a single-board computer. A key feature of lakes that must be accounted for is the fre ...

2018