相关论文: Autoregressive Uncertainty Modeling for 3D Boundin…

Bounding-box regression is a popular technique to refine or predict localization boxes in recent object detection approaches. Typically, bounding-box regressors are trained to regress from either region proposals or fixed anchor boxes to…

Estimating probability distributions which describe where an object is likely to be from camera data is a task with many applications. In this work we describe properties which we argue such methods should conform to. We also design a…

In this paper, we present an active exploration framework for high-fidelity 3D reconstruction that incrementally builds a multi-level uncertainty space and selects next-best-views through an uncertainty-driven motion planner. We introduce a…

With the rapid advancement of hardware and software technologies, research in autonomous driving has seen significant growth. The prevailing framework for multi-sensor autonomous driving encompasses sensor installation, perception, path…

Considerable efforts have been devoted to Oriented Object Detection (OOD). However, one lasting issue regarding the discontinuity in Oriented Bounding Box (OBB) representation remains unresolved, which is an inherent bottleneck for extant…

3D object detection plays a pivotal role in many applications, most notably autonomous driving and robotics. These applications are commonly deployed on edge devices to promptly interact with the environment, and often require near…

We present PointFusion, a generic 3D object detection method that leverages both image and 3D point cloud information. Unlike existing methods that either use multi-stage pipelines or hold sensor and dataset-specific assumptions,…

Estimating robot pose and joint angles is significant in advanced robotics, enabling applications like robot collaboration and online hand-eye calibration.However, the introduction of unknown joint angles makes prediction more complex than…

We present a system for automatic converting of 2D mask object predictions and raw LiDAR point clouds into full 3D bounding boxes of objects. Because the LiDAR point clouds are partial, directly fitting bounding boxes to the point clouds is…

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…

Accurate 3D object detection (3DOD) is crucial for safe navigation of complex environments by autonomous robots. Regressing accurate 3D bounding boxes in cluttered environments based on sparse LiDAR data is however a highly challenging…

To predict the next token, autoregressive models ordinarily examine the past. Could they also benefit from also examining hypothetical futures? We consider a novel Transformer-based autoregressive architecture that estimates the next-token…

Predicting not only the target but also an accurate measure of uncertainty is important for many machine learning applications and in particular safety-critical ones. In this work we study the calibration of uncertainty prediction for…

In the field of state-of-the-art object detection, the task of object localization is typically accomplished through a dedicated subnet that emphasizes bounding box regression. This subnet traditionally predicts the object's position by…

Object detection has been applied in a wide variety of real world scenarios, so detection algorithms must provide confidence in the results to ensure that appropriate decisions can be made based on their results. Accordingly, several…

We present a robust real-time LiDAR 3D object detector that leverages heteroscedastic aleatoric uncertainties to significantly improve its detection performance. A multi-loss function is designed to incorporate uncertainty estimations…

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…

Object pose recovery has gained increasing attention in the computer vision field as it has become an important problem in rapidly evolving technological areas related to autonomous driving, robotics, and augmented reality. Existing…

Object pose estimation is crucial to robotic perception and typically provides a single-pose estimate. However, a single estimate cannot capture pose uncertainty deriving from visual ambiguity, which can lead to unreliable behavior.…

3D object detection is an essential task for computer vision applications in autonomous vehicles and robotics. However, models often struggle to quantify detection reliability, leading to poor performance on unfamiliar scenes. We introduce…