相关论文: Learning And-Or Models to Represent Context and Oc…

Accurately and promptly predicting accidents among surrounding traffic agents from camera footage is crucial for the safety of autonomous vehicles (AVs). This task presents substantial challenges stemming from the unpredictable nature of…

Autonomous driving has attracted remarkable attention from both industry and academia. An important task is to estimate 3D properties(e.g.translation, rotation and shape) of a moving or parked vehicle on the road. This task, while critical,…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…

Representation learning seeks to expose certain aspects of observed data in a learned representation that's amenable to downstream tasks like classification. For instance, a good representation for 2D images might be one that describes only…

Hierarchies allow feature sharing between objects at multiple levels of representation, can code exponential variability in a very compact way and enable fast inference. This makes them potentially suitable for learning and recognizing a…

Understanding the decision-making and trusting the reliability of Deep Machine Learning Models is crucial for adopting such methods to safety-relevant applications. We extend self-explainable Prototypical Variational models with…

Autonomous offroad driving is essential for applications like emergency rescue, military operations, and agriculture. Despite progress, systems struggle with high-speed vehicles exceeding 10m/s due to the need for accurate long-range (>…

A key step to driver safety is to observe the driver's activities with the face being a key step in this process to extracting information such as head pose, blink rate, yawns, talking to passenger which can then help derive higher level…

The task of object viewpoint estimation has been a challenge since the early days of computer vision. To estimate the viewpoint (or pose) of an object, people have mostly looked at object intrinsic features, such as shape or appearance.…

Attentional mechanisms are order-invariant. Positional encoding is a crucial component to allow attention-based deep model architectures such as Transformer to address sequences or images where the position of information matters. In this…

A key challenge in the task of human pose and shape estimation is occlusion, including self-occlusions, object-human occlusions, and inter-person occlusions. The lack of diverse and accurate pose and shape training data becomes a major…

Object-centric learning (OCL) seeks to learn representations that only encode an object, isolated from other objects or background cues in a scene. This approach underpins various aims, including out-of-distribution (OOD) generalization,…

Environment perception is crucial for autonomous vehicle (AV) safety. Most existing AV perception algorithms have not studied the surrounding environment complexity and failed to include the environment complexity parameter. This paper…

Autonomous driving (AD) operates in open-world scenarios, where encountering unknown objects is inevitable. However, standard object detectors trained on a limited number of base classes tend to ignore any unknown objects, posing potential…

Driving in a dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision-making policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

We present joint learning of instance and semantic segmentation for visible and occluded region masks. Sharing the feature extractor with instance occlusion segmentation, we introduce semantic occlusion segmentation into the instance…

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect…

When an object detector is deployed in a novel setting it often experiences a drop in performance. This paper studies how an embodied agent can automatically fine-tune a pre-existing object detector while exploring and acquiring images in a…

We propose a new self-supervised method for pre-training the backbone of deep perception models operating on point clouds. The core idea is to train the model on a pretext task which is the reconstruction of the surface on which the 3D…

Current parameter-efficient fine-tuning (PEFT) methods build adapters widely agnostic of the context of downstream task to learn, or the context of important knowledge to maintain. As a result, there is often a performance gap compared to…