相关论文: Deep Mixture Density Network for Probabilistic Obj…

Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…

Mixture models, such as Gaussian mixture models, are widely used in machine learning to represent complex data distributions. A key challenge, especially in high-dimensional settings, is to determine the mixture order and estimate the…

Bayesian neural networks and deep ensemble methods have been proposed for uncertainty quantification; however, they are computationally intensive and require large storage. By utilizing a single deterministic model, we can solve the above…

When incorporating deep neural networks into robotic systems, a major challenge is the lack of uncertainty measures associated with their output predictions. Methods for uncertainty estimation in the output of deep object detectors (DNNs)…

In this thesis a probabilistic framework is developed and proposed for Dynamic Object Recognition in 3D Environments. A software package is developed using C++ and Python in ROS that performs the detection and tracking task. Furthermore, a…

This paper presents a probabilistic framework to obtain both reliable and fast uncertainty estimates for predictions with Deep Neural Networks (DNNs). Our main contribution is a practical and principled combination of DNNs with sparse…

We present a new algorithm for multi-region segmentation of 2D images with objects that may partially occlude each other. Our algorithm is based on the observation hat human performance on this task is based both on prior knowledge about…

We consider the problem of boundary detection for areal data, focusing on situations where for each areal unit multiple observations are available. We propose a Bayesian nonparametric mixture model for the area-specific population…

Detection of moving objects is an essential capability in dealing with dynamic environments. Most moving object detection algorithms have been designed for color images without depth. For robotic navigation where real-time RGB-D data is…

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…

We propose a simple yet effective proposal-based object detector, aiming at detecting highly-overlapped instances in crowded scenes. The key of our approach is to let each proposal predict a set of correlated instances rather than a single…

Realtime shape estimation of continuum objects and manipulators is essential for developing accurate planning and control paradigms. The existing methods that create dense point clouds from camera images, and/or use distinguishable markers…

Much of the focus in the object detection literature has been on the problem of identifying the bounding box of a particular class of object in an image. Yet, in contexts such as robotics and augmented reality, it is often necessary to find…

The superior performance of object detectors is often established under the condition that the test samples are in the same distribution as the training data. However, in many practical applications, out-of-distribution (OOD) instances are…

Computer vision systems in real-world applications need to be robust to partial occlusion while also being explainable. In this work, we show that black-box deep convolutional neural networks (DCNNs) have only limited robustness to partial…

Accurate platform localization is an integral component of most robotic systems. As these robotic systems become more ubiquitous, it is necessary to develop robust state estimation algorithms that are able to withstand novel and…

Although significant progress has been made in pedestrian detection recently, pedestrian detection in crowded scenes is still challenging. The heavy occlusion between pedestrians imposes great challenges to the standard Non-Maximum…

This paper introduces a new technique for learning probabilistic models of mass and friction distributions of unknown objects, and performing robust sliding actions by using the learned models. The proposed method is executed in two…

Object recognition and instance segmentation are fundamental skills in any robotic or autonomous system. Existing state-of-the-art methods are often unable to capture meaningful uncertainty in challenging or ambiguous scenes, and as such…

Accurately estimating the shape of objects in dense clutters makes important contribution to robotic packing, because the optimal object arrangement requires the robot planner to acquire shape information of all existed objects. However,…