Recent progress in multiple object tracking (MOT) has shown that a robust similarity score is key to the success of trackers. A good similarity score is expected to reflect multiple cues, e.g. appearance, location, and topology, over a long period of time. However, these cues are heterogeneous, making them hard to be combined in a unified network. As a result, existing methods usually encode them in separate networks or require a complex training approach. In this paper, we present a unified framework for similarity measurement which could simultaneously encode various cues and perform reasoning across both spatial and temporal domains. We also study the feature representation of a tracklet-object pair in depth, showing a proper design of the pair features can well empower the trackers. The resulting approach is named spatial-temporal relation networks (STRN). It runs in a feed-forward way and can be trained in an end-to-end manner. The state-of-the-art accuracy was achieved on all of the MOT15-17 benchmarks using public detection and online settings.
The topological information is also crucial for measuring similarity @cite_54 . However, leveraging such non-grid topology of multiple objects is challenging. Only a few works successfully encode the topological information, e.g. the occupancy grid in @cite_54 . However, this occupancy grid only counts the distribution of objects, without differentiating individual objects. In this paper, we utilize relation networks to encode the topological information for making the individual object differentiable and identifiable.
@cite_54
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To enable safe motion planning in a dynamic environment, it is vital to anticipate and predict object movements. In practice, however, an accurate object identification among multiple moving objects is extremely challenging, making it infeasible to accurately track and predict individual objects. Furthermore, even for a single object, its appearance can vary significantly due to external effects, such as occlusions, varying perspectives, or illumination changes. In this paper, we propose a novel recurrent network architecture called a recurrent flow network that can infer the velocity of each cell and the probability of future occupancy from a sequence of occupancy grids which we refer to as an occupancy flow. The parameters of the recurrent flow network are optimized using Bayesian optimization. The proposed method outperforms three baseline optical flow methods, Lucas-Kanade, Lucas-Kanade with Tikhonov regularization, and HornSchunck methods, and a Bayesian occupancy grid filter in terms of both prediction accuracy and robustness to noise. Occupancy grid map is a popular tool for representing the surrounding environments of mobile robots intelligent vehicles. Its applications can be dated back to the 1980s, when researchers utilized sonar or LiDAR to illustrate environments by occupancy grids. However, in the literature, research on vision-based occupancy grid mapping is scant. Furthermore, when moving in a real dynamic world, traditional occupancy grid mapping is required not only with the ability to detect occupied areas, but also with the capability to understand dynamic environments. The paper addresses this issue by presenting a stereo-vision-based framework to create a dynamic occupancy grid map, which is applied in an intelligent vehicle driving in an urban scenario. Besides representing the surroundings as occupancy grids, dynamic occupancy grid mapping could provide the motion information of the grids. The proposed framework consists of two components. The first is motion estimation for the moving vehicle itself and independent moving objects. The second is dynamic occupancy grid mapping, which is based on the estimated motion information and the dense disparity map. The main benefit of the proposed framework is the ability of mapping occupied areas and moving objects at the same time. This is very practical in real applications. The proposed method is evaluated using real data acquired by our intelligent vehicle platform “SeTCar” in urban environments. Occupancy grid mapping approaches, especially those that additionally estimate the dynamics, enable a robust and consistent modeling of the local environment in a cell-level representation. But a scene understanding of surrounding traffic participants requires a generalized object-level representation. This work presents an object tracking approach based on dynamic occupancy grids. The association of occupied grid cells with existing object tracks is solved individually on the cell-level without clustering or forming object hypotheses. New object tracks are extracted using a clustering strategy and a velocity variance analysis of neighboring occupied cells to reduce false positives. In order to improve the estimates of the position and size, an object boundary extraction is presented that takes the surrounding free space of the selected box representation into account. Experimental results with real sensor data show the effectiveness of the proposed object tracking approach in challenging urban scenarios with dense traffic. In this paper, we propose a novel approach, 3D-RecGAN++, which reconstructs the complete 3D structure of a given object from a single arbitrary depth view using generative adversarial networks. Unlike existing work which typically requires multiple views of the same object or class labels to recover the full 3D geometry, the proposed 3D-RecGAN++ only takes the voxel grid representation of a depth view of the object as input, and is able to generate the complete 3D occupancy grid with a high resolution of @math by recovering the occluded missing regions. The key idea is to combine the generative capabilities of 3D encoder-decoder and the conditional adversarial networks framework, to infer accurate and fine-grained 3D structures of objects in high-dimensional voxel space. Extensive experiments on large synthetic datasets and real-world Kinect datasets show that the proposed 3D-RecGAN++ significantly outperforms the state of the art in single view 3D object reconstruction, and is able to reconstruct unseen types of objects. The 4-intersection, a model for the representation of topological relations between 2-dimensional objects with connected boundaries and connected interiors, is extended to cover topological relations between 2-dimensional objects with arbitrary holes, called regions with holes. Each region with holes is represented by its generalized region—the union of the object and its holes — and the closure of each hole. The topological relation between two regions with holes, A and B, is described by the set of all individual topological relations between (1) A ’s generalized region and B’s generalized region, (2) A ’s generalized region and each of B’s holes, (3) B’s generalized region with each of A ’s holes, and (4) each of A ’s holes with each of B’s holes. As a side product, the same formalism applies to the description of topological relations between 1-spheres. An algorithm is developed that minimizes the number of individual topological relations necessary to describe a configuration completely. This model of representing complex topological relations is suitable for a multi-level treatment of topological relations, at the least detailed level of which the relation between the generalized regions prevails. It is shown how this model applies to the assessment of consistency in multiple representations when, at a coarser level of less detail, regions are generalized by dropping holes. In general, multiple views are required to create a complete 3D model of an object or of a multi-roomed indoor scene. In this work, we address the problem of merging multiple textured 3D data sets, each of which corresponds to a different view of a scene. There are two steps to the merging process: registration and integration. To register, or align, data sets we use a modified version of the iterative closest point (ICP) algorithm; our version, which we call color ICP, considers not only 3D information, but color as well. We show that the use of color decreases registration error significantly when using omnidirectional stereo data sets. Once the 3D data sets have been registered, we integrate them to produce a seamless, composite 3D textured model. Our approach to integration uses a 3D occupancy grid to represent likelihood of spatial occupancy through voting. In addition to occupancy information, we store surface normal in each voxel of the occupancy grid. Surface normal is used to robustly extract a surface from the occupancy grid; on that surface we blend textures from multiple views. Numerous recent papers have found important relationships between network structure and risks within networks. These results indicate that network structure can dramatically affect the relative effectiveness of risk identification and mitigation methods. With this in mind this paper provides a comparative analysis of the topological and electrical structure of the IEEE 300 bus and the Eastern United States power grids. Specifically we compare the topology of these grids with that of random [1], preferential-attachment [2] and small-world [3] networks of equivalent sizes and find that power grids differ substantially from these abstract models in degree distribution, clustering, diameter and assortativity, and thus conclude that these abstract models do not provide substantial utility for modeling power grids. To better represent the topological properties of power grids we introduce a new graph generating algorithm, the minimum distance graph, that produces networks with properties that more nearly match those of known power grids. While these topological comparisons are useful, they do not account for the physical laws that govern flows in electricity networks. To elucidate the electrical structure of power grids, we propose a new method for representing electrical structure as a weighted graph. This analogous representation is based on electrical distance rather than topological connections. A comparison of these two representations of the test power grids reveals dramatic differences between the electrical and topological structure of electrical power systems. Occupancy grid filtering is important for navigation and localization in dynamic environments. The techniques that have been proposed in the past research, such as the Bayesian occupancy filter and the sequential Monte Carlo Bayesian occupancy filter, involve the independent consideration of all grid cells and, thus, are inaccurate and computationally expensive. To solve this problem, we propose a fast occupancy grid filtering method that uses a grid state map. We apply a superpixel-based clustering concept called a grid cell cluster (GCC) to 3D particles measured using light detection and ranging and dense depth maps extracted from a stereo vision sensor. The GCC locates a connection among similar data items according to certain criteria. In our proposed method, a GCC consisting of several grid cells has one dynamic state. Thus, we can reduce the computational cost and the number of computational errors by using the same prediction matrices is generated from the grid cells belonging to an object. Our method was evaluated on the KITTI benchmark data set. The results showed that the proposed method was faster (by approximately 38.9 ) than Mekahanachas method and approximately 12 more accurate (on the intersection-over-union metric) than prevalent techniques. The Bayesian occupancy filter (BOF) (, 2002) has achieved promising results in the object tracking applications. This paper presents a new development of BOF which inherits original BOF's advantages. Meanwhile, the new formulation has significantly reduced original BOF's complexities and can be run in realtime. In Bayesian occupancy filter, the environment is finely divided into 2-dimensional grids. Different from conventional occupancy gridmaps, in BOF, each grid has both static (occupancy) and dynamic (velocity) characteristics. In the new proposed BOF, the velocity of each cell is modeled as a distribution. The distribution for each cell occupancy can therefore be inferred using a filtering mechanism. A segmentation algorithm is implemented to extract the objects from BOF estimation. Thereafter, standard target tracking methods are employed to further analyze each object's motion. By using BOF as a pre-processing tool, the complexity of the data association is significantly reduced. Experiments using data from an indoor human tracking application demonstrate that our approach yields satisfactory results Tracking and mapping the local environment form the basis of an autonomous vehicle system. They are often realized separately using occupancy grids, which do not require object or shape assumptions, and model-based object tracking algorithms. Many approaches require a binary classification of the sensor measurements into coming from a static or from a dynamic object, as otherwise inconsistencies between the different representations are likely to occur. This paper presents grid-based tracking and mapping (GTAM), a low-level grid-based approach that simultaneously estimates the static and the dynamic environment, their uncertainties, velocities, as well as information about free space. GTAM works on the level of grid cells, rather than creating object hypotheses. A particle filter is used to obtain continuous cell velocity distributions for all obstacles. Continuous evidences in a Dempster–Shafer model are derived without requiring a binary pre-classification of the sensor measurements. Results and evaluations using a vehicle moving in real dynamic street environments demonstrate the performance of the presented approach. In order to design an efficient communication scheme and examine the efficiency of any networked control architecture in smart grid applications, we need to characterize statistically its information source, namely the power grid itself. Investigating the statistical properties of power grids has the immediate benefit of providing a natural simulation platform, producing a large number of power grid test cases with realistic topologies, with scalable network size, and with realistic electrical parameter settings. The second benefit is that one can start analyzing the performance of decentralized control algorithms over information networks whose topology matches that of the underlying power network and use network scientific approaches to determine analytically if these architectures would scale well. With these motivations, in this paper we study both the topological and electrical characteristics of power grid networks based on a number of synthetic and real-world power systems. The most interesting discoveries include: the power grid is sparsely connected with obvious small-world properties; its nodal degree distribution can be well fitted by a mixture distribution coming from the sum of a truncated geometric random variable and an irregular discrete random variable; the power grid has very distinctive graph spectral density and its algebraic connectivity scales as a power function of the network size; the line impedance has a heavy-tailed distribution, which can be captured quite accurately by a clipped double Pareto lognormal distribution. Based on the discoveries mentioned above, we propose an algorithm that generates random topology power grids featuring the same topology and electrical characteristics found from the real data. The recent success of deep learning techniques in classification and object detection tasks has been leveraged for segmentation tasks. However, a weakness of these deep segmentation models is their limited ability to encode high level shape priors, such as smoothness and preservation of complex interactions between object regions, which can result in implausible segmentations. In this work, by formulating and optimizing a new loss, we introduce the first deep network trained to encode geometric and topological priors of containment and detachment. Our results on the segmentation of histology glands from a dataset of 165 images demonstrate the advantage of our novel loss terms and show how our topology aware architecture outperforms competing methods by up to 10 in both pixel-level accuracy and object-level Dice. Abstract Mobile laser scanning (MLS) has become a popular technique for road inventory, building modelling, infrastructure management, mobility assessment, etc. Meanwhile, due to the high mobility of MLS systems, it is easy to revisit interested areas. However, change detection using MLS data of street environment has seldom been studied. In this paper, an approach that combines occupancy grids and a distance-based method for change detection from MLS point clouds is proposed. Unlike conventional occupancy grids, our occupancy-based method models space based on scanning rays and local point distributions in 3D without voxelization. A local cylindrical reference frame is presented for the interpolation of occupancy between rays according to the scanning geometry. The Dempster–Shafer theory (DST) is utilized for both intra-data evidence fusion and inter-data consistency assessment. Occupancy of reference point cloud is fused at the location of target points and then the consistency is evaluated directly on the points. A point-to-triangle (PTT) distance-based method is combined to improve the occupancy-based method. Because it is robust to penetrable objects, e.g. vegetation, which cause self-conflicts when modelling occupancy. The combined method tackles irregular point density and occlusion problems, also eliminates false detections on penetrable objects. In this paper, we propose a novel 3D-RecGAN approach, which reconstructs the complete 3D structure of a given object from a single arbitrary depth view using generative adversarial networks. Unlike the existing work which typically requires multiple views of the same object or class labels to recover the full 3D geometry, the proposed 3D-RecGAN only takes the voxel grid representation of a depth view of the object as input, and is able to generate the complete 3D occupancy grid by filling in the occluded missing regions. The key idea is to combine the generative capabilities of autoencoders and the conditional Generative Adversarial Networks (GAN) framework, to infer accurate and fine-grained 3D structures of objects in high-dimensional voxel space. Extensive experiments on large synthetic datasets show that the proposed 3D-RecGAN significantly outperforms the state of the art in single view 3D object reconstruction, and is able to reconstruct unseen types of objects. Our code and data are available at: this https URL The age of Internet of Things has brought in new challenges specifically in areas such as security. The evolution of classic power grids to smart grids is a prime example of how everything is now being connected to the Internet. With the power grid becoming smart, the information and communication systems supporting it is subject to both classical and emerging cyber-attacks. The article investigates the vulnerabilities caused by a distributed denial-of-service (DDoS) attack on the smart grid advanced metering infrastructure. Attack simulations have been conducted on a realistic electrical grid topology. The simulated network consisted of smart meters, power plant and utility server. Finally, the impact of large scale DDoS attacks on the distribution system's reliability is discussed. In this paper, we propose a novel 3D-RecGAN approach, which reconstructs the complete 3D structure of a given object from a single arbitrary depth view using generative adversarial networks. Unlike the existing work which typically requires multiple views of the same object or class labels to recover the full 3D geometry, the proposed 3D-RecGAN only takes the voxel grid representation of a depth view of the object as input, and is able to generate the complete 3D occupancy grid by filling in the occluded missing regions. The key idea is to combine the generative capabilities of autoencoders and the conditional Generative Adversarial Networks (GAN) framework, to infer accurate and fine-grained 3D structures of objects in high-dimensional voxel space. Extensive experiments on large synthetic datasets show that the proposed 3D-RecGAN significantly outperforms the state of the art in single view 3D object reconstruction, and is able to reconstruct unseen types of objects. Our code and data are available at: https: github.com Yang7879 3D-RecGAN. In this paper, we propose a novel approach, 3D-RecGAN++, which reconstructs the complete 3D structure of a given object from a single arbitrary depth view using generative adversarial networks. Unlike existing work which typically requires multiple views of the same object or class labels to recover the full 3D geometry, the proposed 3D-RecGAN++ only takes the voxel grid representation of a depth view of the object as input, and is able to generate the complete 3D occupancy grid with a high resolution of 256^3 by recovering the occluded missing regions. The key idea is to combine the generative capabilities of autoencoders and the conditional Generative Adversarial Networks (GAN) framework, to infer accurate and fine-grained 3D structures of objects in high-dimensional voxel space. Extensive experiments on large synthetic datasets and real-world Kinect datasets show that the proposed 3D-RecGAN++ significantly outperforms the state of the art in single view 3D object reconstruction, and is able to reconstruct unseen types of objects. An approach to robot perception and world modeling that uses a probabilistic tesselated representation of spatial information called the occupancy grid is reviewed. The occupancy grid is a multidimensional random field that maintains stochastic estimates of the occupancy state of the cells in a spatial lattice. To construct a sensor-derived map of the robot's world, the cell state estimates are obtained by interpreting the incoming range readings using probabilistic sensor models. Bayesian estimation procedures allow the incremental updating of the occupancy grid, using readings taken from several sensors over multiple points of view. The use of occupancy grids from mapping and for navigation is examined. Operations on occupancy grids and extensions of the occupancy grid framework are briefly considered. > We present an analysis of the topological structure and static tolerance to errors and attacks of the September 2003 actualization of the Union for the Coordination of Transport of Electricity (UCTE) power grid, involving thirty-three different networks. Though every power grid studied has exponential degree distribution and most of them lack typical small-world topology, they display patterns of reaction to node loss similar to those observed in scale-free networks. We have found that the node removal behavior can be logarithmically related to the power grid size. This logarithmic behavior would suggest that, though size favors fragility, growth can reduce it. We conclude that, with the ever-growing demand for power and reliability, actual planning strategies to increase transmission systems would have to take into account this relative increase in vulnerability with size, in order to facilitate and improve the power grid design and functioning. Abstract Autonomous robots must be able to learn and maintain models of their environments. Research on mobile robot navigation has produced two major paradigms for mapping indoor environments: grid-based and topological. While grid-based methods produce accurate metric maps, their complexity often prohibits efficient planning and problem solving in large-scale indoor environments. Topological maps, on the other hand, can be used much more efficiently, yet accurate and consistent topological maps are often difficult to learn and maintain in large-scale environments, particularly if momentary sensor data is highly ambiguous. This paper describes an approach that integrates both paradigms: grid-based and topological. Grid-based maps are learned using artificial neural networks and naive Bayesian integration. Topological maps are generated on top of the grid-based maps, by partitioning the latter into coherent regions. By combining both paradigms, the approach presented here gains advantages from both worlds: accuracy consistency and efficiency. The paper gives results for autonomous exploration, mapping and operation of a mobile robot in populated multi-room environments.