相关论文: Prediction Surface Uncertainty Quantification in O…

The vast majority of uncertainty quantification methods for deep object detectors such as variational inference are based on the network output. Here, we study gradient-based epistemic uncertainty metrics for deep object detectors to obtain…

With the advancements made in deep learning, computer vision problems like object detection and segmentation have seen a great improvement in performance. However, in many real-world applications such as autonomous driving vehicles, the…

The ability to detect whether an object is a 2D or 3D object is extremely important in autonomous driving, since a detection error can have life-threatening consequences, endangering the safety of the driver, passengers, pedestrians, and…

Motion planning under uncertainty is one of the main challenges in developing autonomous driving vehicles. In this work, we focus on the uncertainty in sensing and perception, resulted from a limited field of view, occlusions, and sensing…

At present, the performance of deep neural network in general object detection is comparable to or even surpasses that of human beings. However, due to the limitations of deep learning itself, the small proportion of feature pixels, and the…

The performance of domain adaptation technologies has not yet reached an ideal level in the current 3D object detection field for autonomous driving, which is mainly due to significant differences in the size of vehicles, as well as the…

Shape completion, i.e., predicting the complete geometry of an object from a partial observation, is highly relevant for several downstream tasks, most notably robotic manipulation. When basing planning or prediction of real grasps on…

Object detectors achieve strong performance under nominal imaging conditions but can fail silently when exposed to blur, noise, compression, adverse weather, or resolution changes. In safety-critical settings, it is therefore insufficient…

Autonomous driving has the potential to significantly enhance productivity and provide numerous societal benefits. Ensuring robustness in these safety-critical systems is essential, particularly when vehicles must navigate adverse weather…

Lidar based 3D object detection is inevitable for autonomous driving, because it directly links to environmental understanding and therefore builds the base for prediction and motion planning. The capacity of inferencing highly sparse 3D…

Object detection is a critical problem for the safe interaction between autonomous vehicles and road users. Deep-learning methodologies allowed the development of object detection approaches with better performance. However, there is still…

We argue that object detectors in the safety critical domain should prioritize detection of objects that are most likely to interfere with the actions of the autonomous actor. Especially, this applies to objects that can impact the actor's…

Object detection is a fundamental visual recognition problem in computer vision and has been widely studied in the past decades. Visual object detection aims to find objects of certain target classes with precise localization in a given…

Deep learning has led to great progress in the detection of mobile (i.e. movement-capable) objects in urban driving scenes in recent years. Supervised approaches typically require the annotation of large training sets; there has thus been…

Traditional object recognition approaches apply feature extraction, part deformation handling, occlusion handling and classification sequentially while they are independent from each other. Ouyang and Wang proposed a model for jointly…

Modeling data uncertainty is important for noisy images, but seldom explored for face recognition. The pioneer work, PFE, considers uncertainty by modeling each face image embedding as a Gaussian distribution. It is quite effective.…

Accurate quantification of model uncertainty has long been recognized as a fundamental requirement for trusted AI. In regression tasks, uncertainty is typically quantified using prediction intervals calibrated to a specific operating point,…

We present an approach for detecting and estimating the 3D poses of objects in images that requires only an untextured CAD model and no training phase for new objects. Our approach combines Deep Learning and 3D geometry: It relies on an…

Quantifying the uncertainty of an object's pose estimate is essential for robust control and planning. Although pose estimation is a well-studied robotics problem, attaching statistically rigorous uncertainty is not well understood without…

Current approaches to semantic image and scene understanding typically employ rather simple object representations such as 2D or 3D bounding boxes. While such coarse models are robust and allow for reliable object detection, they discard…