相关论文: Prediction Surface Uncertainty Quantification in O…

Machine-learning driven safety-critical autonomous systems, such as self-driving cars, must be able to detect situations where its trained model is not able to make a trustworthy prediction. Often viewed as a black-box, it is non-obvious to…

In many safety-critical applications such as autonomous driving and surgical robots, it is desirable to obtain prediction uncertainties from object detection modules to help support safe decision-making. Specifically, such modules need to…

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…

In object detection with deep neural networks, the box-wise objectness score tends to be overconfident, sometimes even indicating high confidence in presence of inaccurate predictions. Hence, the reliability of the prediction and therefore…

Object detection is a crucial component in autonomous vehicle systems. It enables the vehicle to perceive and understand its environment by identifying and locating various objects around it. By utilizing advanced imaging and deep learning…

Learning-based algorithms for automated license plate recognition implicitly assume that the training and test data are well aligned. However, this may not be the case under extreme environmental conditions, or in forensic applications…

DETR and its variants have emerged as promising architectures for object detection, offering an end-to-end prediction pipeline. In practice, however, DETRs generate hundreds of predictions that far outnumber the actual objects present in an…

The uncertainty quantification of sensor measurements coupled with deep learning networks is crucial for many robotics systems, especially for safety-critical applications such as self-driving cars. This paper develops an uncertainty…

A rise in popularity of Deep Neural Networks (DNNs), attributed to more powerful GPUs and widely available datasets, has seen them being increasingly used within safety-critical domains. One such domain, self-driving, has benefited from…

One of the major open challenges in self-driving cars is the ability to detect cars and pedestrians to safely navigate in the world. Deep learning-based object detector approaches have enabled great advances in using camera imagery to…

Deep learning models frequently make incorrect predictions with high confidence when presented with test examples that are not well represented in their training dataset. We propose a novel and straightforward approach to estimate…

Autonomous Vehicle (AV) perception systems have advanced rapidly in recent years, providing vehicles with the ability to accurately interpret their environment. Perception systems remain susceptible to errors caused by overly-confident…

In this paper, we show how uncertainty estimation can be leveraged to enable safety critical image segmentation in autonomous driving, by triggering a fallback behavior if a target accuracy cannot be guaranteed. We introduce a new…

Tremendous progress in deep learning over the last years has led towards a future with autonomous vehicles on our roads. Nevertheless, the performance of their perception systems is strongly dependent on the quality of the utilized training…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

Self-driving vehicles have expanded dramatically over the last few years. Udacity has release a dataset containing, among other data, a set of images with the steering angle captured during driving. The Udacity challenge aimed to predict…

Driving scene understanding is a critical real-world problem that involves interpreting and associating various elements of a driving environment, such as vehicles, pedestrians, and traffic signals. Despite advancements in autonomous…

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…

The rapid evolution of automated vehicles (AVs) has the potential to provide safer, more efficient, and comfortable travel options. However, these systems face challenges regarding reliability in complex driving scenarios. Recent…

Autonomous driving (AD) operates in open-world scenarios, where encountering unknown objects is inevitable. However, standard object detectors trained on a limited number of base classes tend to ignore any unknown objects, posing potential…