相关论文: Self-Assessment for Single-Object Tracking in Clut…

Tracking user reported bugs requires considerable engineering effort in going through many repetitive reports and assigning them to the correct teams. This paper proposes a neural architecture that can jointly (1) detect if two bug reports…

Multi-object tracking is a cornerstone capability of any robotic system. The quality of tracking is largely dependent on the quality of the detector used. In many applications, such as autonomous vehicles, it is preferable to over-detect…

The safe and efficient operation of Autonomous Mobile Robots (AMRs) in complex environments, such as manufacturing, logistics, and agriculture, necessitates accurate multi-object tracking and predictive collision avoidance. This paper…

Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…

We propose an efficient method to estimate the accuracy of classifiers using only unlabeled data. We consider a setting with multiple classification problems where the target classes may be tied together through logical constraints. For…

We present MOTLEE, a distributed mobile multi-object tracking algorithm that enables a team of robots to collaboratively track moving objects in the presence of localization error. Existing approaches to distributed tracking make limiting…

Multi-object tracking is a critical component in autonomous navigation, as it provides valuable information for decision-making. Many researchers tackled the 3D multi-object tracking task by filtering out the frame-by-frame 3D detections;…

Reliable uncertainty estimation is crucial for perception systems in safe autonomous driving. Recently, many methods have been proposed to model uncertainties in deep learning based object detectors. However, the estimated probabilities are…

Online monitoring is a widely used technique in assessing if the performance of the system satisfies some desired requirements during run-time operation. Existing works on online monitoring usually assume that the monitor can acquire system…

This paper introduces a novel task to assess the faithfulness of large language models (LLMs) using local perturbations and self-explanations. Many LLMs often require additional context to answer certain questions correctly. For this…

Assessing the blurriness of an object image is fundamentally important to improve the performance for object recognition and retrieval. The main challenge lies in the lack of abundant images with reliable labels and effective learning…

Instance segmentation with unseen objects is a challenging problem in unstructured environments. To solve this problem, we propose a robot learning approach to actively interact with novel objects and collect each object's training label…

Traditional point tracking algorithms such as the KLT use local 2D information aggregation for feature detection and tracking, due to which their performance degrades at the object boundaries that separate multiple objects. Recently, CoMaL…

In this paper we present a robust tracker to solve the multiple object tracking (MOT) problem, under the framework of tracking-by-detection. As the first contribution, we innovatively combine single object tracking (SOT) algorithms with…

We consider the problem of estimating the state of a noisy linear dynamical system when an unknown subset of sensors is arbitrarily corrupted by an adversary. We propose a secure state estimation algorithm, and derive (optimal) bounds on…

Clutter in photos is a distraction preventing photographers from conveying the intended emotions or stories to the audience. Photography amateurs frequently include clutter in their photos due to unconscious negligence or the lack of…

Since the groundbreaking work of the Kalman filter in the 1960s, considerable effort has been devoted to various discrete time filters for dynamic state estimation, especially including dozens of different types of suboptimal…

A recently developed data-driven Kalman filter requires offline measurement of the process disturbance; a requirement that is often unmet for many practical applications. We propose a solution that parametrizes the Kalman filter exclusively…

Object detectors often experience a drop in performance when new environmental conditions are insufficiently represented in the training data. This paper studies how to automatically fine-tune a pre-existing object detector while exploring…

There is no, nor will there ever be, single best clustering algorithm. Nevertheless, we would still like to be able to distinguish between methods that work well on certain task types and those that systematically underperform. Clustering…