Efficient Implementations of Extended Object PMBM Filters with Blocked Gibbs Sampling

This paper considers multiple extended object tracking based on Poisson multi-Bernoulli mixture (PMBM) filtering, which gives the closed-form Bayesian solution for standard multiple extended object models with Poisson birth. To efficiently address the challenging extended object data association problem in PMBM filtering, we develop implementations of the extended object PMBM filter using blocked Gibbs sampling. By formulating the PMBM density on an augmented state space with auxiliary variables and leveraging the Poisson object measurement model, we first derive a joint posterior over potential objects, previous global hypotheses, and current measurement association variables, together with its corresponding factorization. This factorized representation leads to blocked Gibbs samplers that efficiently generate high-weight global hypotheses and thereby provide an efficient implementation of the PMBM update step. We further introduce a collapsed Gibbs sampling variant, in which the Bernoulli object existence variables are marginalized out, yielding higher sampling efficiency, especially for the initiation of newly detected objects. The proposed methods, implemented under the gamma Gaussian inverse-Wishart model, are compared with an extended object Poisson multi-Bernoulli filter based on particle belief propagation. Simulation results demonstrate that the proposed approaches achieve comparable tracking performance while requiring substantially less runtime.

ARTA: Adaptive Mixed-Resolution Token Allocation for Efficient Dense Feature Extraction

We present ARTA, a mixed-resolution coarse-to-fine vision transformer for efficient dense feature extraction. Unlike models that begin with dense high-resolution (fine) tokens, ARTA starts with low-resolution (coarse) tokens and uses a lightweight allocator to predict which regions require more fine tokens. The allocator iteratively predicts a semantic (class) boundary score and allocates additional tokens to patches above a low threshold, concentrating token density near boundaries while maintaining high sensitivity to weak boundary evidence. This targeted allocation encourages tokens to represent a single semantic class rather than a mixture of classes. Mixed-resolution attention enables interaction between coarse and fine tokens, focusing computation on semantically complex areas while avoiding redundant processing in homogeneous regions. Experiments demonstrate that ARTA achieves state-of-the-art results on ADE20K and COCO-Stuff with substantially fewer FLOPs, and delivers competitive performance on Cityscapes at markedly lower compute. For example, ARTA-Base attains 54.6 mIoU on ADE20K in the ~100M-parameter class while using fewer FLOPs and less memory than comparable backbones.

Infrastructure-based Autonomous Mobile Robots for Internal Logistics -- Challenges and Future Perspectives

The adoption of Autonomous Mobile Robots (AMRs) for internal logistics is accelerating, with most solutions emphasizing decentralized, onboard intelligence. While AMRs in indoor environments like factories can be supported by infrastructure, involving external sensors and computational resources, such systems remain underexplored in the literature. This paper presents a comprehensive overview of infrastructure-based AMR systems, outlining key opportunities and challenges. To support this, we introduce a reference architecture combining infrastructure-based sensing, on-premise cloud computing, and onboard autonomy. Based on the architecture, we review core technologies for localization, perception, and planning. We demonstrate the approach in a real-world deployment in a heavy-vehicle manufacturing environment and summarize findings from a user experience (UX) evaluation. Our aim is to provide a holistic foundation for future development of scalable, robust, and human-compatible AMR systems in complex industrial environments.

Probabilistic Trajectory GOSPA: A Metric for Uncertainty-Aware Multi-Object Tracking Performance Evaluation

This paper presents a generalization of the trajectory general optimal sub-pattern assignment (GOSPA) metric for evaluating multi-object tracking algorithms that provide trajectory estimates with track-level uncertainties. This metric builds on the recently introduced probabilistic GOSPA metric to account for both the existence and state estimation uncertainties of individual object states. Similar to trajectory GOSPA (TGOSPA), it can be formulated as a multidimensional assignment problem, and its linear programming relaxation--also a valid metric--is computable in polynomial time. Additionally, this metric retains the interpretability of TGOSPA, and we show that its decomposition yields intuitive costs terms associated to expected localization error and existence probability mismatch error for properly detected objects, expected missed and false detection error, and track switch error. The effectiveness of the proposed metric is demonstrated through a simulation study.

Future-Oriented Navigation: Dynamic Obstacle Avoidance with One-Shot Energy-Based Multimodal Motion Prediction

This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of dynamic obstacles and model predictive control to incorporate these predictions into the motion planning process. Motion prediction is driven by an energy-based neural network that generates high-resolution, multi-step predictions in a single operation. The prediction outcomes are further utilized to create geometric shapes formulated as mathematical constraints. Instead of treating each dynamic obstacle individually, predicted obstacles are grouped by proximity in an unsupervised way to improve performance and efficiency. The overall collision-free navigation is handled by model predictive control with a specific design for proactive dynamic obstacle avoidance. The proposed approach allows mobile robots to navigate effectively in dynamic environments. Its performance is accessed across various scenarios that represent typical warehouse settings. The results demonstrate that the proposed approach outperforms other existing dynamic obstacle avoidance methods.

NeuRadar: Neural Radiance Fields for Automotive Radar Point Clouds

Radar is an important sensor for autonomous driving (AD) systems due to its robustness to adverse weather and different lighting conditions. Novel view synthesis using neural radiance fields (NeRFs) has recently received considerable attention in AD due to its potential to enable efficient testing and validation but remains unexplored for radar point clouds. In this paper, we present NeuRadar, a NeRF-based model that jointly generates radar point clouds, camera images, and lidar point clouds. We explore set-based object detection methods such as DETR, and propose an encoder-based solution grounded in the NeRF geometry for improved generalizability. We propose both a deterministic and a probabilistic point cloud representation to accurately model the radar behavior, with the latter being able to capture radar's stochastic behavior. We achieve realistic reconstruction results for two automotive datasets, establishing a baseline for NeRF-based radar point cloud simulation models. In addition, we release radar data for ZOD's Sequences and Drives to enable further research in this field. To encourage further development of radar NeRFs, we release the source code for NeuRadar.

Optimizing Gene-Based Testing for Antibiotic Resistance Prediction

Antibiotic Resistance (AR) is a critical global health challenge that necessitates the development of cost-effective, efficient, and accurate diagnostic tools. Given the genetic basis of AR, techniques such as Polymerase Chain Reaction (PCR) that target specific resistance genes offer a promising approach for predictive diagnostics using a limited set of key genes. This study introduces GenoARM, a novel framework that integrates reinforcement learning (RL) with transformer-based models to optimize the selection of PCR gene tests and improve AR predictions, leveraging observed metadata for improved accuracy. In our evaluation, we developed several high-performing baselines and compared them using publicly available datasets derived from real-world bacterial samples representing multiple clinically relevant pathogens. The results show that all evaluated methods achieve strong and reliable performance when metadata is not utilized. When metadata is introduced and the number of selected genes increases, GenoARM demonstrates superior performance due to its capacity to approximate rewards for unseen and sparse combinations. Overall, our framework represents a major advancement in optimizing diagnostic tools for AR in clinical settings.

Probabilistic GOSPA: A Metric for Performance Evaluation of Multi-Object Filters with Uncertainties

This paper presents a probabilistic generalization of the generalized optimal subpattern assignment (GOSPA) metric, termed P-GOSPA metric. GOSPA is a popular metric for evaluating the distance between finite sets, typically in multi-object estimation applications. P-GOSPA extends GOSPA to the space of multi-Bernoulli set densities, incorporating the inherent uncertainty in probabilistic multi-object representations. In addition, P-GOSPA retains the interpretability of GOSPA, such as decomposability into localization, missed and false detection errors, in a sound manner. Examples and simulations are presented to demonstrate the efficacy of P-GOSPA.

TGOSPA Metric Parameters Selection and Evaluation for Visual Multi-object Tracking

Multi-object tracking algorithms are deployed in various applications, each with unique performance requirements. For example, track switches pose significant challenges for offline scene understanding, as they hinder the accuracy of data interpretation. Conversely, in online surveillance applications, their impact is often minimal. This disparity underscores the need for application-specific performance evaluations that are both simple and mathematically sound. The trajectory generalized optimal sub-pattern assignment (TGOSPA) metric offers a principled approach to evaluate multi-object tracking performance. It accounts for localization errors, the number of missed and false objects, and the number of track switches, providing a comprehensive assessment framework. This paper illustrates the effective use of the TGOSPA metric in computer vision tasks, addressing challenges posed by the need for application-specific scoring methodologies. By exploring the TGOSPA parameter selection, we enable users to compare, comprehend, and optimize the performance of algorithms tailored for specific tasks, such as target tracking and training of detector or re-ID modules.

MVUDA: Unsupervised Domain Adaptation for Multi-view Pedestrian Detection

We address multi-view pedestrian detection in a setting where labeled data is collected using a multi-camera setup different from the one used for testing. While recent multi-view pedestrian detectors perform well on the camera rig used for training, their performance declines when applied to a different setup. To facilitate seamless deployment across varied camera rigs, we propose an unsupervised domain adaptation (UDA) method that adapts the model to new rigs without requiring additional labeled data. Specifically, we leverage the mean teacher self-training framework with a novel pseudo-labeling technique tailored to multi-view pedestrian detection. This method achieves state-of-the-art performance on multiple benchmarks, including MultiviewX$\rightarrow$Wildtrack. Unlike previous methods, our approach eliminates the need for external labeled monocular datasets, thereby reducing reliance on labeled data. Extensive evaluations demonstrate the effectiveness of our method and validate key design choices. By enabling robust adaptation across camera setups, our work enhances the practicality of multi-view pedestrian detectors and establishes a strong UDA baseline for future research.