相关论文: Unsupervised Learning of Lidar Features for Use in…

Deep neural networks often struggle to learn robust representations in the presence of dataset biases, leading to suboptimal generalization on unbiased datasets. This limitation arises because the models heavily depend on peripheral and…

We propose a new self-supervised method for pre-training the backbone of deep perception models operating on point clouds. The core idea is to train the model on a pretext task which is the reconstruction of the surface on which the 3D…

Autonomous driving has achieved rapid development over the last few decades, including the machine perception as an important issue of it. Although object detection based on conventional cameras has achieved remarkable results in 2D/3D,…

Autonomous systems rely on accurate 3D object detection from LiDAR data, yet most detectors are limited to a predefined set of known classes, making them vulnerable to unexpected out-of-distribution (OOD) objects. In this work, we present…

Recent learning-based LiDAR odometry methods have demonstrated their competitiveness. However, most methods still face two substantial challenges: 1) the 2D projection representation of LiDAR data cannot effectively encode 3D structures…

Most learning-based methods estimate ego-motion by utilizing visual sensors, which suffer from dramatic lighting variations and textureless scenarios. In this paper, we incorporate sparse but accurate depth measurements obtained from lidars…

In this paper, we propose a unified information theoretic framework for learning-motivated methods aimed at odometry estimation, a crucial component of many robotics and vision tasks such as navigation and virtual reality where relative…

Deep learning affords enormous opportunities to augment the armamentarium of biomedical imaging, albeit its design and implementation have potential flaws. Fundamentally, most deep learning models are driven entirely by data without…

Extensive research efforts have been dedicated to deep learning based odometry. Nonetheless, few efforts are made on the unsupervised deep lidar odometry. In this paper, we design a novel framework for unsupervised lidar odometry with the…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

LiDAR-based perception is critical for autonomous driving due to its robustness to poor lighting and visibility conditions. Yet, current models operate under the closed-set assumption and often fail to recognize unexpected…

We present a framework for learning of modeling uncertainties in Linear Time Invariant (LTI) systems. We propose a methodology to extend the dynamics of an LTI (without uncertainty) with an uncertainty model, based on measured data, to…

In this work, we propose a novel framework for unsupervised learning for event cameras that learns motion information from only the event stream. In particular, we propose an input representation of the events in the form of a discretized…

Deep learning offers promising new ways to accurately model aleatoric uncertainty in robotic state estimation systems, particularly when the uncertainty distributions do not conform to traditional assumptions of being fixed and Gaussian. In…

We propose a method for improving the prediction accuracy of learned robot dynamics models on out-of-distribution (OOD) states. We achieve this by leveraging two key sources of structure often present in robot dynamics: 1) sparsity, i.e.,…

We introduce an unsupervised formulation to estimate heteroscedastic uncertainty in retrieval systems. We propose an extension to triplet loss that models data uncertainty for each input. Besides improving performance, our formulation…

Unsupervised pretraining, which learns a useful representation using a large amount of unlabeled data to facilitate the learning of downstream tasks, is a critical component of modern large-scale machine learning systems. Despite its…

Like humans who rely on landmarks for orientation, autonomous robots depend on feature-rich environments for accurate localization. In this paper, we propose the GFM-Planner, a perception-aware trajectory planning framework based on the…

A parametric adaptive greedy Latent Space Dynamics Identification (gLaSDI) framework is developed for accurate, efficient, and certified data-driven physics-informed greedy auto-encoder simulators of high-dimensional nonlinear dynamical…

Uncertainty estimation bears the potential to make deep learning (DL) systems more reliable. Standard techniques for uncertainty estimation, however, come along with specific combinations of strengths and weaknesses, e.g., with respect to…