相关论文: Deep Directional Statistics: Pose Estimation with …

We present a multimodal camera relocalization framework that captures ambiguities and uncertainties with continuous mixture models defined on the manifold of camera poses. In highly ambiguous environments, which can easily arise due to…

Estimating the pose of objects from images is a crucial task of 3D scene understanding, and recent approaches have shown promising results on very large benchmarks. However, these methods experience a significant performance drop when…

Noisy labels are commonly found in real-world data, which cause performance degradation of deep neural networks. Cleaning data manually is labour-intensive and time-consuming. Previous research mostly focuses on enhancing classification…

Diffusion Probabilistic Methods are employed for state-of-the-art image generation. In this work, we present a method for extending such models for performing image segmentation. The method learns end-to-end, without relying on a…

For many robotic manipulation and contact tasks, it is crucial to accurately estimate uncertain object poses, for which certain geometry and sensor information are fused in some optimal fashion. Previous results for this problem primarily…

Uncertainty quantification by ensemble learning is explored in terms of an application from computational optical form measurements. The application requires to solve a large-scale, nonlinear inverse problem. Ensemble learning is used to…

The probabilistic diffusion model has become highly effective across various domains. Typically, sampling from a diffusion model involves using a denoising distribution characterized by a Gaussian with a learned mean and either fixed or…

In this paper we consider the problem of human pose estimation from a single still image. We propose a novel approach where each location in the image votes for the position of each keypoint using a convolutional neural net. The voting…

Denoising Probabilistic Models (DPMs) represent an emerging domain of generative models that excel in generating diverse and high-quality images. However, most current training methods for DPMs often neglect the correlation between…

Object detection and tracking is a key task in autonomy. Specifically, 3D object detection and tracking have been an emerging hot topic recently. Although various methods have been proposed for object detection, uncertainty in the 3D…

In this paper, we introduce a new technique that combines two popular methods to estimate uncertainty in object detection. Quantifying uncertainty is critical in real-world robotic applications. Traditional detection models can be ambiguous…

The fusion of raw sensor data to create a Bird's Eye View (BEV) representation is critical for autonomous vehicle planning and control. Despite the growing interest in using deep learning models for BEV semantic segmentation, anticipating…

The capability to detect objects is a core part of autonomous driving. Due to sensor noise and incomplete data, perfectly detecting and localizing every object is infeasible. Therefore, it is important for a detector to provide the amount…

Though remarkable progress has been achieved in various vision tasks, deep neural networks still suffer obvious performance degradation when tested in out-of-distribution scenarios. We argue that the feature statistics (mean and standard…

Accurate uncertainty estimates are essential for deploying deep object detectors in safety-critical systems. The development and evaluation of probabilistic object detectors have been hindered by shortcomings in existing performance…

Estimating 6D poses of objects is an essential computer vision task. However, most conventional approaches rely on camera data from a single perspective and therefore suffer from occlusions. We overcome this issue with our novel multi-view…

We propose a method for inferring human attributes (such as gender, hair style, clothes style, expression, action) from images of people under large variation of viewpoint, pose, appearance, articulation and occlusion. Convolutional Neural…

Object pose estimation from a single view remains a challenging problem. In particular, partial observability, occlusions, and object symmetries eventually result in pose ambiguity. To account for this multimodality, this work proposes…

Numerous deep learning applications benefit from multi-task learning with multiple regression and classification objectives. In this paper we make the observation that the performance of such systems is strongly dependent on the relative…

Popular approaches for quantifying predictive uncertainty in deep neural networks often involve distributions over weights or multiple models, for instance via Markov Chain sampling, ensembling, or Monte Carlo dropout. These techniques…