相关论文: Robustness Certification of Visual Perception Mode…

Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…

In this paper, we propose a noise-aware exposure control algorithm for robust robot vision. Our method aims to capture the best-exposed image which can boost the performance of various computer vision and robotics tasks. For this purpose,…

Any classifier can be "smoothed out" under Gaussian noise to build a new classifier that is provably robust to $\ell_2$-adversarial perturbations, viz., by averaging its predictions over the noise via randomized smoothing. Under the…

Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…

In deep learning applications, robustness measures the ability of neural models that handle slight changes in input data, which could lead to potential safety hazards, especially in safety-critical applications. Pre-deployment assessment of…

Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…

Robots with internal visual self-models promise unprecedented adaptability, yet existing autonomous modeling pipelines remain fragile under realistic sensing conditions such as noisy imagery and cluttered backgrounds. This paper presents…

We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable…

Despite the advances in the field of generative models in computer vision, video stabilization still lacks a pure regressive deep-learning-based formulation. Deep video stabilization is generally formulated with the help of explicit motion…

Autonomous systems increasingly rely on machine learning techniques to transform high-dimensional raw inputs into predictions that are then used for decision-making and control. However, it is often easy to maliciously manipulate such…

Certifying the robustness of a graph-based machine learning model poses a critical challenge for safety. Current robustness certificates for graph classifiers guarantee output invariance with respect to the total number of node pair flips…

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…

Standard benchmarks for optical flow, scene flow, and stereo vision algorithms generally focus on model accuracy rather than robustness to image corruptions like noise or rain. Hence, the resilience of models to such real-world…

Deep learning methods for unsupervised registration often rely on objectives that assume a uniform noise level across the spatial domain (e.g. mean-squared error loss), but noise distributions are often heteroscedastic and input-dependent…

This paper presents preliminary work on a novel connection between certified robustness in machine learning and the modeling of 3D objects. We highlight an intriguing link between the Maximal Certified Radius (MCR) of a classifier…

Feature matching across video streams remains a cornerstone challenge in computer vision. Increasingly, robust multimodal matching has garnered interest in robotics, surveillance, remote sensing, and medical imaging. While traditional rely…

Recent advancements in bird's eye view (BEV) representations have shown remarkable promise for in-vehicle 3D perception. However, while these methods have achieved impressive results on standard benchmarks, their robustness in varied…

Feature tracking is a fundamental problem in computer vision, with applications in many computer vision tasks, such as visual SLAM and action recognition. This paper introduces a novel multi-body feature tracker that exploits a multi-body…

Adversarial examples pose a security threat to many critical systems built on neural networks (such as face recognition systems, and self-driving cars). While many methods have been proposed to build robust models, how to build certifiably…

Machine learning has demonstrated remarkable performance over finite datasets, yet whether the scores over the fixed benchmarks can sufficiently indicate the model's performance in the real world is still in discussion. In reality, an ideal…