相关论文: Labels Are Not Perfect: Inferring Spatial Uncertai…

The availability of real-world datasets is the prerequisite for developing object detection methods for autonomous driving. While ambiguity exists in object labels due to error-prone annotation process or sensor observation noises, current…

Reliable uncertainty estimation is crucial for robust object detection in autonomous driving. However, previous works on probabilistic object detection either learn predictive probability for bounding box regression in an un-supervised…

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…

The inherent ambiguity in ground-truth annotations of 3D bounding boxes, caused by occlusions, signal missing, or manual annotation errors, can confuse deep 3D object detectors during training, thus deteriorating detection accuracy.…

The quality of training datasets for deep neural networks is a key factor contributing to the accuracy of resulting models. This effect is amplified in difficult tasks such as object detection. Dealing with errors in datasets is often…

Learning accurate object detectors often requires large-scale training data with precise object bounding boxes. However, labeling such data is expensive and time-consuming. As the crowd-sourcing labeling process and the ambiguities of the…

Label assignment plays a significant role in modern object detection models. Detection models may yield totally different performances with different label assignment strategies. For anchor-based detection models, the IoU (Intersection over…

Deep neural networks have set the state-of-the-art in computer vision tasks such as bounding box detection and semantic segmentation. Object detectors and segmentation models assign confidence scores to predictions, reflecting the model's…

To assure that an autonomous car is driving safely on public roads, its object detection module should not only work correctly, but show its prediction confidence as well. Previous object detectors driven by deep learning do not explicitly…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Within the past decade, the rise of applications based on artificial intelligence (AI) in general and machine learning (ML) in specific has led to many significant contributions within different domains. The applications range from robotics…

Despite powering sensitive systems like autonomous vehicles, object detection remains fairly brittle in part due to annotation errors that plague most real-world training datasets. We propose ObjectLab, a straightforward algorithm to detect…

Semi-supervised 3D object detection from point cloud aims to train a detector with a small number of labeled data and a large number of unlabeled data. The core of existing methods lies in how to select high-quality pseudo-labels using the…

Reliable uncertainty estimation is crucial for perception systems in safe autonomous driving. Recently, many methods have been proposed to model uncertainties in deep learning based object detectors. However, the estimated probabilities are…

Modern CNN-based object detectors rely on bounding box regression and non-maximum suppression to localize objects. While the probabilities for class labels naturally reflect classification confidence, localization confidence is absent. This…

Quantifying a model's predictive uncertainty is essential for safety-critical applications such as autonomous driving. We consider quantifying such uncertainty for multi-object detection. In particular, we leverage conformal prediction to…

Given multiple datasets with different label spaces, the goal of this work is to train a single object detector predicting over the union of all the label spaces. The practical benefits of such an object detector are obvious and significant…

For object detection, it is possible to view the prediction of bounding boxes as a reverse diffusion process. Using a diffusion model, the random bounding boxes are iteratively refined in a denoising step, conditioned on the image. We…

Capturing uncertainty in object detection is indispensable for safe autonomous driving. In recent years, deep learning has become the de-facto approach for object detection, and many probabilistic object detectors have been proposed.…

Compared to typical multi-sensor systems, monocular 3D object detection has attracted much attention due to its simple configuration. However, there is still a significant gap between LiDAR-based and monocular-based methods. In this paper,…