相关论文: A Heteroscedastic Likelihood Model for Two-frame O…

Uncertainty quantification in image retrieval is crucial for downstream decisions, yet it remains a challenging and largely unexplored problem. Current methods for estimating uncertainties are poorly calibrated, computationally expensive,…

Adverse weather conditions and occlusions in urban environments result in impaired perception. The uncertainties are handled in different modules of an automated vehicle, ranging from sensor level over situation prediction until motion…

Uncertainty pervades through the modern robotic autonomy stack, with nearly every component (e.g., sensors, detection, classification, tracking, behavior prediction) producing continuous or discrete probabilistic distributions. Trajectory…

The optical flow of natural scenes is a combination of the motion of the observer and the independent motion of objects. Existing algorithms typically focus on either recovering motion and structure under the assumption of a purely static…

Current state-of-the-art trackers often fail due to distractorsand large object appearance changes. In this work, we explore the use ofdense optical flow to improve tracking robustness. Our main insight is that, because flow estimation can…

To operate process engineering systems in a safe and reliable manner, predictive models are often used in decision making. In many cases, these are mechanistic first principles models which aim to accurately describe the process. In…

While deep neural networks have become the go-to approach in computer vision, the vast majority of these models fail to properly capture the uncertainty inherent in their predictions. Estimating this predictive uncertainty can be crucial,…

Traditional and modern machine learning-based path loss models typically assume a constant prediction variance. We propose a neural network that jointly predicts the mean and link-specific variance by minimizing a Gaussian negative…

Deep unrolling is an emerging deep learning-based image reconstruction methodology that bridges the gap between model-based and purely deep learning-based image reconstruction methods. Although deep unrolling methods achieve…

When employing underwater vehicles for the autonomous inspection of assets, it is crucial to consider and assess the water conditions. These conditions significantly impact visibility and directly affect robotic operations. Turbidity can…

Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…

This paper presents a novel method for detecting scene changes from a pair of images with a difference of camera viewpoints using a dense optical flow based change detection network. In the case that camera poses of input images are fixed…

Sensor fusion is crucial for a performant and robust Perception system in autonomous vehicles, but sensor staleness, where data from different sensors arrives with varying delays, poses significant challenges. Temporal misalignment between…

Deep learning provides a powerful tool for machine perception when the observations resemble the training data. However, real-world robotic systems must react intelligently to their observations even in unexpected circumstances. This…

Conventional training for optical flow and stereo depth models typically employs a uniform loss function across all pixels. However, this one-size-fits-all approach often overlooks the significant variations in learning difficulty among…

Video Diffusion Models (VDMs) can generate high-quality videos, but often struggle with producing temporally coherent motion. Optical flow supervision is a promising approach to address this, with prior works commonly employing…

Current person image retrieval methods have achieved great improvements in accuracy metrics. However, they rarely describe the reliability of the prediction. In this paper, we propose an Uncertainty-Aware Learning (UAL) method to remedy…

In driving scenarios with poor visibility or occlusions, it is important that the autonomous vehicle would take into account all the uncertainties when making driving decisions, including choice of a safe speed. The grid-based perception…

Estimating dense 2D optical flow and 3D scene flow is essential for dynamic scene understanding. Recent work combines images, LiDAR, and event data to jointly predict 2D and 3D motion, yet most approaches operate in separate heterogeneous…

Turbulent flows play an important role in many scientific and technological design problems. Both Sub-Grid Scale (SGS) models in Large Eddy Simulations (LES) and Reynolds Averaged Navier Stokes (RANS) based modeling will require turbulence…