6 papers
PUF: Plug-and-Play Uncertainty-Aware Fusion for Online 3D Scene Graph Generation
Yi Yang, Myrna Castillo, Bodo Rosenhahn +1
Online 3D scene graph generation builds a persistent, structured representation of a scene by incrementally fusing 2D observations into a global 3D graph. Existing online methods t…
HiMAP: History-aware Map-occupancy Prediction with Fallback
Yiming Xu, Yi Yang, Hao Cheng +1
Accurate motion forecasting is critical for autonomous driving, yet most predictors rely on multi-object tracking (MOT) with identity association, assuming that objects are correct…
Multi-Object Tracking Retrieval with LLaVA-Video: A Training-Free Solution to MOT25-StAG Challenge
Yi Yang, Yiming Xu, Timo Kaiser +3
In this report, we present our solution to the MOT25-Spatiotemporal Action Grounding (MOT25-StAG) Challenge. The aim of this challenge is to accurately localize and track multiple…
Ensemble of Pre-Trained Models for Long-Tailed Trajectory Prediction
Divya Thuremella, Yi Yang, Simon Wanna +2
This work explores the application of ensemble modeling to the multidimensional regression problem of trajectory prediction for vehicles in urban environments. As newer and bigger…
FDSG: Forecasting Dynamic Scene Graphs
Yi Yang, Yuren Cong, Hao Cheng +2
Dynamic scene graph generation extends scene graph generation from images to videos by modeling entity relationships and their temporal evolution. However, existing methods either…
Evaluating Global Geo-alignment for Precision Learned Autonomous Vehicle Localization using Aerial Data
Yi Yang, Xuran Zhao, H. Charles Zhao +5
Recently there has been growing interest in the use of aerial and satellite map data for autonomous vehicles, primarily due to its potential for significant cost reduction and enha…