相关论文: iMHS: An Incremental Multi-Hypothesis Smoother

Reliable obstacle detection and classification in rough and unstructured terrain such as agricultural fields or orchards remains a challenging problem. These environments involve large variations in both geometry and appearance, challenging…

Autonomous robot navigation in complex environments requires robust perception as well as high-level scene understanding due to perceptual challenges, such as occlusions, and uncertainty introduced by robot movement. For example, a robot…

Modern vehicles are equipped with increasingly complex sensors. These sensors generate large volumes of data that provide opportunities for modeling and analysis. Here, we are interested in exploiting this data to learn aspects of behaviors…

Processing high-volume, streaming data is increasingly common in modern statistics and machine learning, where batch-mode algorithms are often impractical because they require repeated passes over the full dataset. This has motivated…

Infinite Hidden Markov Models (iHMM's) are an attractive, nonparametric generalization of the classical Hidden Markov Model which can automatically infer the number of hidden states in the system. However, due to the infinite-dimensional…

Multi-scale problems, where variables of interest evolve in different time-scales and live in different state-spaces, can be found in many fields of science. Here, we introduce a new recursive methodology for Bayesian inference that aims at…

For autonomous agents to successfully operate in the real world, anticipation of future events and states of their environment is a key competence. This problem can be formalized as a sequence prediction problem, where a number of…

For challenging state estimation problems arising in domains like vision and robotics, particle-based representations attractively enable temporal reasoning about multiple posterior modes. Particle smoothers offer the potential for more…

This paper develops a Bayesian continuous 3D semantic occupancy map from noisy point clouds by generalizing the Bayesian kernel inference model for building occupancy maps, a binary problem, to semantic maps, a multi-class problem. The…

We introduce a deep learning image segmentation framework that is extremely robust to missing imaging modalities. Instead of attempting to impute or synthesize missing data, the proposed approach learns, for each modality, an embedding of…

Multiple generalized additive models (GAMs) are a type of distributional regression wherein parameters of probability distributions depend on predictors through smooth functions, with selection of the degree of smoothness via $L_2$…

The problem of identifying regions of spatially interesting, different or adversarial behavior is inherent to many practical applications involving distributed multisensor systems. In this work, we develop a general framework stemming from…

The recent development of compressed sensing has led to spectacular advances in the understanding of sparse linear estimation problems as well as in algorithms to solve them. It has also triggered a new wave of developments in the related…

We propose a simulation method for multidimensional Hawkes processes based on superposition theory of point processes. This formulation allows us to design efficient simulations for Hawkes processes with differing exponentially decaying…

Various AI models are increasingly being considered as part of clinical decision-support tools. However, the trustworthiness of such models is rarely considered. Clinicians are more likely to use a model if they can understand and trust its…

The factor graph framework is a convenient modeling technique for robotic state estimation where states are represented as nodes, and measurements are modeled as factors. When designing a sensor fusion framework for legged robots, one often…

In this study we explore a new simulation scheme for partial differential equations known as Information Field Dynamics (IFD). Information field dynamics attempts to improve on existing simulation schemes by incorporating Bayesian field…

The random matrix model is popular in extended object tracking, due to its relative simplicity and versatility. In this model, the extended object state consists of a kinematic vector for the position and motion parameters (velocity, etc),…

In this paper we propose the Iterative Amortized Hierarchical Variational Autoencoder (IA-HVAE), which expands on amortized inference with a hybrid scheme containing an initial amortized guess and iterative refinement with decoder…

Multimodal machine learning models, such as those that combine text and image modalities, are increasingly used in critical domains including public safety, security, and healthcare. However, these systems inherit biases from their single…