8 citations · 15 across the 12 of their papers we have counts for
13 papers
Social Robot Navigation through Constrained Optimization: a Comparative Study of Uncertainty-based Objectives and Constraints
Timur Akhtyamov, Aleksandr Kashirin, Aleksey Postnikov +1
This work is dedicated to the study of how uncertainty estimation of the human motion prediction can be embedded into constrained optimization techniques, such as Model Predictive…
DDPEN: Trajectory Optimisation With Sub Goal Generation Model
Aleksander Gamayunov, Aleksey Postnikov, Gonzalo Ferrer
Differential dynamic programming (DDP) is a widely used and powerful trajectory optimization technique, however, due to its internal structure, it is not exempt from local minima.…
Conditioned Human Trajectory Prediction using Iterative Attention Blocks
Aleksey Postnikov, Aleksander Gamayunov, Gonzalo Ferrer
Human motion prediction is key to understand social environments, with direct applications in robotics, surveillance, etc. We present a simple yet effective pedestrian trajectory p…
Transformer based trajectory prediction
Aleksey Postnikov, Aleksander Gamayunov, Gonzalo Ferrer
To plan a safe and efficient route, an autonomous vehicle should anticipate future motions of other agents around it. Motion prediction is an extremely challenging task which recen…
CovarianceNet: Conditional Generative Model for Correct Covariance Prediction in Human Motion Prediction
Aleksey Postnikov, Aleksander Gamayunov, Gonzalo Ferrer
The correct characterization of uncertainty when predicting human motion is equally important as the accuracy of this prediction. We present a new method to correctly predict the u…
Sub-millisecond Video Synchronization of Multiple Android Smartphones
Azat Akhmetyanov, Anastasiia Kornilova, Marsel Faizullin +2
This paper addresses the problem of building an affordable easy-to-setup synchronized multi-view camera system, which is in demand for many Computer Vision and Robotics application…
Comparison of modern open-source visual SLAM approaches
Dinar Sharafutdinov, Mark Griguletskii, Pavel Kopanev +5
SLAM is one of the most fundamental areas of research in robotics and computer vision. State of the art solutions has advanced significantly in terms of accuracy and stability. Unf…
Best Axes Composition: Multiple Gyroscopes IMU Sensor Fusion to Reduce Systematic Error
Marsel Faizullin, Gonzalo Ferrer
In this paper, we propose an algorithm to combine multiple cheap Inertial Measurement Unit (IMU) sensors to calculate 3D-orientations accurately. Our approach takes into account th…
Open-Source LiDAR Time Synchronization System by Mimicking GNSS-clock
Marsel Faizullin, Anastasiia Kornilova, Gonzalo Ferrer
Data fusion algorithms that employ LiDAR measurements, such as Visual-LiDAR, LiDAR-Inertial, or Multiple LiDAR Odometry and simultaneous localization and mapping (SLAM) rely on pre…
Be your own Benchmark: No-Reference Trajectory Metric on Registered Point Clouds
Anastasiia Kornilova, Gonzalo Ferrer
This paper addresses the problem of assessing trajectory quality in conditions when no ground truth poses are available or when their accuracy is not enough for the specific task -…
Relightable 3D Head Portraits from a Smartphone Video
Artem Sevastopolsky, Savva Ignatiev, Gonzalo Ferrer +2
In this work, a system for creating a relightable 3D portrait of a human head is presented. Our neural pipeline operates on a sequence of frames captured by a smartphone camera wit…
Random Fourier Features based SLAM
Yermek Kapushev, Anastasia Kishkun, Gonzalo Ferrer +1
This work is dedicated to simultaneous continuous-time trajectory estimation and mapping based on Gaussian Processes (GP). State-of-the-art GP-based models for Simultaneous Localiz…
HSFM-nn: Combining a Feedforward Motion Prediction Network and Covariance Prediction
A. Postnikov, A. Gamayunov, G. Ferrer
In this paper, we propose a new method for motion prediction: HSFM-nn. Our proposed method combines two different approaches: a feedforward network whose layers are model-based…