相关论文: MUAD: Multiple Uncertainties for Autonomous Drivin…

Achieving level-5 driving automation in autonomous vehicles necessitates a robust semantic visual perception system capable of parsing data from different sensors across diverse conditions. However, existing semantic perception datasets…

A major bottleneck in off-road autonomous driving research lies in the scarcity of large-scale, high-quality datasets and benchmarks. To bridge this gap, we present ORAD-3D, which, to the best of our knowledge, is the largest dataset…

Deep neural networks (DNNs) have received tremendous attention and achieved great success in various applications, such as image and video analysis, natural language processing, recommendation systems, and drug discovery. However, inherent…

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…

In the realm of deploying Machine Learning-based Advanced Driver Assistance Systems (ML-ADAS) into real-world scenarios, adverse weather conditions pose a significant challenge. Conventional ML models trained on clear weather data falter…

Large-scale deployment of fully autonomous vehicles requires a very high degree of robustness to unstructured traffic, and weather conditions, and should prevent unsafe mispredictions. While there are several datasets and benchmarks…

The fusion of multimodal sensor streams, such as camera, lidar, and radar measurements, plays a critical role in object detection for autonomous vehicles, which base their decision making on these inputs. While existing methods exploit…

Radar has stronger adaptability in adverse scenarios for autonomous driving environmental perception compared to widely adopted cameras and LiDARs. Compared with commonly used 3D radars, the latest 4D radars have precise vertical resolution…

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…

Autonomous driving is a popular research area within the computer vision research community. Since autonomous vehicles are highly safety-critical, ensuring robustness is essential for real-world deployment. While several public multimodal…

Recently, self-driving vehicles have been introduced with several automated features including lane-keep assistance, queuing assistance in traffic-jam, parking assistance and crash avoidance. These self-driving vehicles and intelligent…

A key factor for ensuring safety in Autonomous Vehicles (AVs) is to avoid any abnormal behaviors under undesirable and unpredicted circumstances. As AVs increasingly rely on Deep Neural Networks (DNNs) to perform safety-critical tasks,…

End-to-end autonomous driving aims to produce planning trajectories from raw sensors directly. Currently, most approaches integrate perception, prediction, and planning modules into a fully differentiable network, promising great…

Re-identifying individuals in unconstrained environments remains an open challenge in computer vision. We introduce the Muddy Racer re-IDentification Dataset (MUDD), the first large-scale benchmark for matching identities of motorcycle…

Modern weather forecast models perform uncertainty quantification using ensemble prediction systems, which collect nonparametric statistics based on multiple perturbed simulations. To provide accurate estimation, dozens of such…

The inaccuracy of neural network models on inputs that do not stem from the training data distribution is both problematic and at times unrecognized. Model uncertainty estimation can address this issue, where uncertainty estimates are often…

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…

Humans drive in a holistic fashion which entails, in particular, understanding dynamic road events and their evolution. Injecting these capabilities in autonomous vehicles can thus take situational awareness and decision making closer to…

The adoption of machine learning (ML) components in software systems raises new engineering challenges. In particular, the inherent uncertainty regarding functional suitability and the operation environment makes architecture evaluation and…

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…