513 citations · 897 across the 21 of their papers we have counts for
23 papers
A Probabilistic Framework for Hierarchical Goal Recognition
Chenyuan Zhang, Katherine Ip, Hamid Rezatofighi +2
Goal recognition aims to infer an agent's goal from observations of its behaviour. In realistic settings, recognition can benefit from exploiting hierarchical task structure and re…
Hier-SLAM++: Neuro-Symbolic Semantic SLAM with a Hierarchically Categorical Gaussian Splatting
Boying Li, Vuong Chi Hao, Peter J. Stuckey +2
We propose Hier-SLAM++, a comprehensive Neuro-Symbolic semantic 3D Gaussian Splatting SLAM method with both RGB-D and monocular input featuring an advanced hierarchical categorical…
Hier-SLAM: Scaling-up Semantics in SLAM with a Hierarchically Categorical Gaussian Splatting
Boying Li, Zhixi Cai, Yuan-Fang Li +2
We propose Hier-SLAM, a semantic 3D Gaussian Splatting SLAM method featuring a novel hierarchical categorical representation, which enables accurate global 3D semantic mapping, sca…
Social-MAE: Social Masked Autoencoder for Multi-person Motion Representation Learning
Mahsa Ehsanpour, Ian Reid, Hamid Rezatofighi
For a complete comprehension of multi-person scenes, it is essential to go beyond basic tasks like detection and tracking. Higher-level tasks, such as understanding the interaction…
Physically Plausible 3D Human-Scene Reconstruction from Monocular RGB Image using an Adversarial Learning Approach
Sandika Biswas, Kejie Li, Biplab Banerjee +2
Holistic 3D human-scene reconstruction is a crucial and emerging research area in robot perception. A key challenge in holistic 3D human-scene reconstruction is to generate a physi…
ActiveRMAP: Radiance Field for Active Mapping And Planning
Huangying Zhan, Jiyang Zheng, Yi Xu +2
A high-quality 3D reconstruction of a scene from a collection of 2D images can be achieved through offline/online mapping methods. In this paper, we explore active mapping from the…
Predicting Topological Maps for Visual Navigation in Unexplored Environments
Huangying Zhan, Hamid Rezatofighi, Ian Reid
We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be famil…
SoMoFormer: Multi-Person Pose Forecasting with Transformers
Edward Vendrow, Satyajit Kumar, Ehsan Adeli +1
Human pose forecasting is a challenging problem involving complex human body motion and posture dynamics. In cases that there are multiple people in the environment, one's motion m…
Multi-Objective Multi-Agent Planning for Discovering and Tracking Multiple Mobile Objects
Hoa Van Nguyen, Ba-Ngu Vo, Ba-Tuong Vo +2
We consider the online planning problem for a team of agents to discover and track an unknown and time-varying number of moving objects from onboard sensor measurements with uncert…
Guided-GAN: Adversarial Representation Learning for Activity Recognition with Wearables
Alireza Abedin, Hamid Rezatofighi, Damith C. Ranasinghe
Human activity recognition (HAR) is an important research field in ubiquitous computing where the acquisition of large-scale labeled sensor data is tedious, labor-intensive and tim…
ODAM: Object Detection, Association, and Mapping using Posed RGB Video
Kejie Li, Daniel DeTone, Steven Chen +6
Localizing objects and estimating their extent in 3D is an important step towards high-level 3D scene understanding, which has many applications in Augmented Reality and Robotics.…
JRDB-Act: A Large-scale Dataset for Spatio-temporal Action, Social Group and Activity Detection
Mahsa Ehsanpour, Fatemeh Saleh, Silvio Savarese +2
The availability of large-scale video action understanding datasets has facilitated advances in the interpretation of visual scenes containing people. However, learning to recognis…
TRiPOD: Human Trajectory and Pose Dynamics Forecasting in the Wild
Vida Adeli, Mahsa Ehsanpour, Ian Reid +4
Joint forecasting of human trajectory and pose dynamics is a fundamental building block of various applications ranging from robotics and autonomous driving to surveillance systems…
MOLTR: Multiple Object Localisation, Tracking, and Reconstruction from Monocular RGB Videos
Kejie Li, Hamid Rezatofighi, Ian Reid
Semantic aware reconstruction is more advantageous than geometric-only reconstruction for future robotic and AR/VR applications because it represents not only where things are, but…
LAVAPilot: Lightweight UAV Trajectory Planner with Situational Awareness for Embedded Autonomy to Track and Locate Radio-tags
Hoa Van Nguyen, Fei Chen, Joshua Chesser +2
Tracking and locating radio-tagged wildlife is a labor-intensive and time-consuming task necessary in wildlife conservation. In this article, we focus on the problem of achieving e…
Joint Learning of Social Groups, Individuals Action and Sub-group Activities in Videos
Mahsa Ehsanpour, Alireza Abedin, Fatemeh Saleh +3
The state-of-the art solutions for human activity understanding from a video stream formulate the task as a spatio-temporal problem which requires joint localization of all individ…
Attend And Discriminate: Beyond the State-of-the-Art for Human Activity Recognition using Wearable Sensors
Alireza Abedin, Mahsa Ehsanpour, Qinfeng Shi +2
Wearables are fundamental to improving our understanding of human activities, especially for an increasing number of healthcare applications from rehabilitation to fine-grained gai…
Socially and Contextually Aware Human Motion and Pose Forecasting
Vida Adeli, Ehsan Adeli, Ian Reid +2
Smooth and seamless robot navigation while interacting with humans depends on predicting human movements. Forecasting such human dynamics often involves modeling human trajectories…
MOT20: A benchmark for multi object tracking in crowded scenes
Patrick Dendorfer, Hamid Rezatofighi, Anton Milan +6
Standardized benchmarks are crucial for the majority of computer vision applications. Although leaderboards and ranking tables should not be over-claimed, benchmarks often provide…
JRMOT: A Real-Time 3D Multi-Object Tracker and a New Large-Scale Dataset
Abhijeet Shenoi, Mihir Patel, JunYoung Gwak +5
Robots navigating autonomously need to perceive and track the motion of objects and other agents in its surroundings. This information enables planning and executing robust and saf…
Multi-Objective Multi-Agent Planning for Jointly Discovering and Tracking Mobile Object
Hoa Van Nguyen, Hamid Rezatofighi, Ba-Ngu Vo +1
We consider the challenging problem of online planning for a team of agents to autonomously search and track a time-varying number of mobile objects under the practical constraint…
JRDB: A Dataset and Benchmark of Egocentric Robot Visual Perception of Humans in Built Environments
Roberto Martín-Martín, Mihir Patel, Hamid Rezatofighi +5
We present JRDB, a novel egocentric dataset collected from our social mobile manipulator JackRabbot. The dataset includes 64 minutes of annotated multimodal sensor data including s…
Online UAV Path Planning for Joint Detection and Tracking of Multiple Radio-tagged Objects
Hoa Van Nguyen, S. Hamid Rezatofighi, Ba-Ngu Vo +1
We consider the problem of online path planning for joint detection and tracking of multiple unknown radio-tagged objects. This is a necessary task for gathering spatio-temporal in…