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The place recognition problem comprises two distinct subproblems; recognizing a specific location in the world ("specific" or "ordinary" place recognition) and recognizing the type of place (place categorization). Both are important…

In a dynamic environment, an agent with a limited field of view/resource cannot fully observe the scene before attempting to parse it. The deployment of common semantic segmentation architectures is not feasible in such settings. In this…

Getting precise aspects of road through segmentation from remote sensing imagery is useful for many real-world applications such as autonomous vehicles, urban development and planning, and achieving sustainable development goals. Roads are…

Semantic segmentation is a challenging task since it requires excessively more low-level spatial information of the image compared to other computer vision problems. The accuracy of pixel-level classification can be affected by many…

Along with predictive performance and runtime speed, reliability is a key requirement for real-world semantic segmentation. Reliability encompasses robustness, predictive uncertainty and reduced bias. To improve reliability, we introduce…

Road extraction in remote sensing images is of great importance for a wide range of applications. Because of the complex background, and high density, most of the existing methods fail to accurately extract a road network that appears…

Most state-of-the-art semantic segmentation approaches only achieve high accuracy in good conditions. In practically-common but less-discussed adverse environmental conditions, their performance can decrease enormously. Existing studies…

Robust perception systems are essential for autonomous vehicle safety. To navigate in a complex urban environment, it is necessary precise sensors with reliable data. The task of understanding the surroundings is hard by itself; for…

We present FasterSeg, an automatically designed semantic segmentation network with not only state-of-the-art performance but also faster speed than current methods. Utilizing neural architecture search (NAS), FasterSeg is discovered from a…

Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue…

LiDAR sensor is essential to the perception system in autonomous vehicles and intelligent robots. To fulfill the real-time requirements in real-world applications, it is necessary to efficiently segment the LiDAR scans. Most of previous…

Image segmentation is an essential component in many image processing and computer vision tasks. The primary goal of image segmentation is to simplify an image for easier analysis, and there are two broad approaches for achieving this: edge…

In this paper, we develop rotation-equivariant neural networks for 4D panoptic segmentation. 4D panoptic segmentation is a benchmark task for autonomous driving that requires recognizing semantic classes and object instances on the road…

We focus on the very challenging task of semantic segmentation for autonomous driving system. It must deliver decent semantic segmentation result for traffic critical objects real-time. In this paper, we propose a very efficient yet…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

Visual localization is a crucial component in the application of mobile robot and autonomous driving. Image retrieval is an efficient and effective technique in image-based localization methods. Due to the drastic variability of…

Vector retrieval systems exhibit significant performance variance across queries due to heterogeneous embedding quality. We propose a lightweight framework for predicting retrieval performance at the query level by combining quantization…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

In this paper, we show how uncertainty estimation can be leveraged to enable safety critical image segmentation in autonomous driving, by triggering a fallback behavior if a target accuracy cannot be guaranteed. We introduce a new…

In open-world scenarios, where both novel classes and domains may exist, an ideal segmentation model should detect anomaly classes for safety and generalize to new domains. However, existing methods often struggle to distinguish between…