相关论文: Evaluating Object (mis)Detection from a Safety and…

Previous work shows that humans tend to prefer large bounding boxes over small bounding boxes with the same IoU. However, we show here that commonly used object detectors predict large and small boxes equally often. In this work, we…

Occlusion presents a significant challenge for safety-critical applications such as autonomous driving. Collaborative perception has recently attracted a large research interest thanks to the ability to enhance the perception of autonomous…

The ability to identify important objects in a complex and dynamic driving environment is essential for autonomous driving agents to make safe and efficient driving decisions. It also helps assistive driving systems decide when to alert…

The detection of unknown traffic obstacles is vital to ensure safe autonomous driving. The standard object-detection methods cannot identify unknown objects that are not included under predefined categories. This is because object-detection…

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 this paper, we study the problem of unsupervised object detection from 3D point clouds in self-driving scenes. We present a simple yet effective method that exploits (i) point clustering in near-range areas where the point clouds are…

Autonomous Vehicle decisions rely on multimodal prediction models that account for multiple route options and the inherent uncertainty in human behavior. However, models can suffer from mode collapse, where only the most likely mode is…

Safety is a central requirement for automated vehicles. As such, the assessment of risk in automated driving is key in supporting both motion planning technologies and safety evaluation. In automated driving, risk is characterized by two…

With the widespread adoption of machine learning technologies in autonomous driving systems, their role in addressing complex environmental perception challenges has become increasingly crucial. However, existing machine learning models…

Safety is the primary priority of autonomous driving. Nevertheless, no published dataset currently supports the direct and explainable safety evaluation for autonomous driving. In this work, we propose DeepAccident, a large-scale dataset…

Active learning strategies for 3D object detection in autonomous driving datasets may help to address challenges of data imbalance, redundancy, and high-dimensional data. We demonstrate the effectiveness of entropy querying to select…

The accuracy of camera-based object detection (CBOD) built upon deep learning is often evaluated against the real objects in frames only. However, such simplistic evaluation ignores the fact that many unimportant objects are small, distant,…

Motion prediction is a critical part of self-driving technology, responsible for inferring future behavior of traffic actors in autonomous vehicle's surroundings. In order to ensure safe and efficient operations, prediction models need to…

Object detectors are widely used in safety-critical real-time applications such as autonomous driving. Explainability is especially important for safety-critical applications, and due to the variety of object detectors and their often…

The primary focus of autonomous driving research is to improve driving accuracy. While great progress has been made, state-of-the-art algorithms still fail at times. Such failures may have catastrophic consequences. It therefore is…

Accurate trajectory prediction is essential for the safe operation of autonomous vehicles in real-world environments. Even well-trained machine learning models may produce unreliable predictions due to discrepancies between training data…

Robust perception in automated driving requires reliable performance under adverse conditions, where sensors may be affected by partial failures or environmental occlusions. Although existing autonomous driving datasets inherently contain…

Detecting other agents and forecasting their behavior is an integral part of the modern robotic autonomy stack, especially in safety-critical scenarios entailing human-robot interaction such as autonomous driving. Due to the importance of…

Object detection and tracking are vital and fundamental tasks for autonomous driving, aiming at identifying and locating objects from those predefined categories in a scene. 3D point cloud learning has been attracting more and more…

In the field of deep learning based computer vision, the development of deep object detection has led to unique paradigms (e.g., two-stage or set-based) and architectures (e.g., Faster-RCNN or DETR) which enable outstanding performance on…