相关论文: Quantifying and Using System Uncertainty in UAV Na…

Accurately estimating uncertainties in neural network predictions is of great importance in building trusted DNNs-based models, and there is an increasing interest in providing accurate uncertainty estimation on many tasks, such as security…

Anomaly detection is a key goal of autonomous surveillance systems that should be able to alert unusual observations. In this paper, we propose a holistic anomaly detection system using deep neural networks for surveillance of critical…

Modern autonomous systems with machine learning components often use uncertainty quantification to help produce assurances about system operation. However, there is a lack of consensus in the community on what uncertainty is and how to…

Graph Neural Networks (GNNs) have been extensively used in various real-world applications. However, the predictive uncertainty of GNNs stemming from diverse sources such as inherent randomness in data and model training errors can lead to…

This paper introduces a deep transformer network for estimating the relative 6D pose of a Unmanned Aerial Vehicle (UAV) with respect to a ship using monocular images. A synthetic dataset of ship images is created and annotated with 2D…

Recurrent neural networks (RNNs) are nonlinear dynamical models commonly used in the machine learning and dynamical systems literature to represent complex dynamical or sequential relationships between variables. More recently, as deep…

Autonomous driving heavily relies on perception systems to interpret the environment for decision-making. To enhance robustness in these safety critical applications, this paper considers a Deep Ensemble of Deep Neural Network regressors…

Deep Neural Networks (DNNs) have achieved state of the art results and even outperformed human accuracy in many challenging tasks, leading to DNNs adoption in a variety of fields including natural language processing, pattern recognition,…

Deep learning models have exhibited superior performance in predictive tasks with the explosively increasing Electronic Health Records (EHR). However, due to the lack of transparency, behaviors of deep learning models are difficult to…

Machine learning proves effective in constructing dynamics models from data, especially for underwater vehicles. Continuous refinement of these models using incoming data streams, however, often requires storage of an overwhelming amount of…

Increasingly high-stakes decisions are made using neural networks in order to make predictions. Specifically, meteorologists and hedge funds apply these techniques to time series data. When it comes to prediction, there are certain…

Deep learning has been successfully applied to the segmentation of 3D Computed Tomography (CT) scans. Establishing the credibility of these segmentations requires uncertainty quantification (UQ) to identify untrustworthy predictions. Recent…

Existing deep neural network (DNN) based wireless localization approaches typically do not capture uncertainty inherent in their estimates. In this work, we propose and evaluate variational and scalable DNN approaches to measure the…

Terrain elevation modeling for off-road navigation aims to accurately estimate changes in terrain geometry in real-time and quantify the corresponding uncertainties. Having precise estimations and uncertainties plays a crucial role in…

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 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…

The empowering unmanned aerial vehicles (UAVs) have been extensively used in providing intelligence such as target tracking. In our field experiments, a pre-trained convolutional neural network (CNN) is deployed at the UAV to identify a…

Due to their increasing spread, confidence in neural network predictions became more and more important. However, basic neural networks do not deliver certainty estimates or suffer from over or under confidence. Many researchers have been…

In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…

We propose a novel deep neural network (DNN) based approximation architecture to learn estimates of measurements. We detail an algorithm that enables training of the DNN. The DNN estimator only uses measurements, if and when they are…