相关论文: Joint Mapping and Calibration via Differentiable S…

A detailed environment perception is a crucial component of automated vehicles. However, to deal with the amount of perceived information, we also require segmentation strategies. Based on a grid map environment representation, well-suited…

A large class of non-smooth practical optimization problems can be written as minimization of a sum of smooth and partly smooth functions. We examine such structured problems which also depend on a parameter vector and study the problem of…

Vehicle route prediction is one of the significant tasks in vehicles mobility. It is one of the means to reduce the accidents and increase comfort in human life. The task of route prediction becomes simpler with the development of certain…

Uncertainties in Deep Neural Network (DNN)-based perception and vehicle's motion pose challenges to the development of safe autonomous driving vehicles. In this paper, we propose a safe motion planning framework featuring the quantification…

Ever more robust, accurate and detailed mapping using visual sensing has proven to be an enabling factor for mobile robots across a wide variety of applications. For the next level of robot intelligence and intuitive user interaction, maps…

Although distributed machine learning has opened up many new and exciting research frontiers, fragmentation of models and data across different machines, nodes, and sites still results in considerable communication overhead, impeding…

The state of the art in 3D object detection using sensor fusion heavily relies on calibration quality, which is difficult to maintain in large scale deployment outside a lab environment. We present the first calibration-free approach for 3D…

We propose a novel recurrent attentional structure to localize and recognize objects jointly. The network can learn to extract a sequence of local observations with detailed appearance and rough context, instead of sliding windows or…

In this paper, we tackle the task of estimating the 3D orientation of previously-unseen objects from monocular images. This task contrasts with the one considered by most existing deep learning methods which typically assume that the…

Radars and cameras are mature, cost-effective, and robust sensors and have been widely used in the perception stack of mass-produced autonomous driving systems. Due to their complementary properties, outputs from radar detection (radar…

Humans can robustly recognize and localize objects by integrating visual and auditory cues. While machines are able to do the same now with images, less work has been done with sounds. This work develops an approach for dense semantic…

Developing reliable UAV navigation systems requires robust air-to-air object detectors capable of distinguishing between objects seen during training and previously unseen objects. While many methods address closed-set detection and achieve…

Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic environments, computer vision researchers usually apply some…

Person re-identification is a challenging task because of the high intra-class variance induced by the unrestricted nuisance factors of variations such as pose, illumination, viewpoint, background, and sensor noise. Recent approaches…

Here we demonstrate how Deep Neural Network (DNN) detections of multiple constitutive or component objects that are part of a larger, more complex, and encompassing feature can be spatially fused to improve the search, detection, and…

A new segmentation fusion method is proposed that ensembles the output of several segmentation algorithms applied on a remotely sensed image. The candidate segmentation sets are processed to achieve a consensus segmentation using a…

Deep-learning-based data-driven forecasting methods have produced impressive results for traffic forecasting. A major limitation of these methods, however, is that they provide forecasts without estimates of uncertainty, which are critical…

The fusion of multiple sensor modalities, especially through deep learning architectures, has been an active area of study. However, an under-explored aspect of such work is whether the methods can be robust to degradations across their…

Visual simultaneous localization and mapping (VSLAM) has broad applications, with state-of-the-art methods leveraging deep neural networks for better robustness and applicability. However, there is a lack of research in fusing these…

The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…