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

Given a point cloud, we consider inferring kinematic models of 3D articulated objects such as boxes for the purpose of manipulating them. While previous work has shown how to extract a planar kinematic model (often represented as a linear…

3D human motion forecasting aims to enable autonomous applications. Estimating uncertainty for each prediction (i.e., confidence based on probability density or quantile) is essential for safety-critical contexts like human-robot…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

In this work, we present a novel method for combining predictions of object detection models: weighted boxes fusion. Our algorithm utilizes confidence scores of all proposed bounding boxes to constructs the averaged boxes. We tested method…

Generating 3D point clouds is challenging yet highly desired. This work presents a novel autoregressive model, PointGrow, which can generate diverse and realistic point cloud samples from scratch or conditioned on semantic contexts. This…

We present an endpoint box regression module(epBRM), which is designed for predicting precise 3D bounding boxes using raw LiDAR 3D point clouds. The proposed epBRM is built with sequence of small networks and is computationally lightweight.…

The inherent ambiguity in ground-truth annotations of 3D bounding boxes, caused by occlusions, signal missing, or manual annotation errors, can confuse deep 3D object detectors during training, thus deteriorating detection accuracy.…

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…

In object detection with deep neural networks, the box-wise objectness score tends to be overconfident, sometimes even indicating high confidence in presence of inaccurate predictions. Hence, the reliability of the prediction and therefore…

This paper discusses current methods and trends for 3D bounding box detection in volumetric medical image data. For this purpose, an overview of relevant papers from recent years is given. 2D and 3D implementations are discussed and…

3D object detection is an essential task for achieving autonomous driving. Existing anchor-based detection methods rely on empirical heuristics setting of anchors, which makes the algorithms lack elegance. In recent years, we have witnessed…

Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which inevitably lead to pose ambiguity and multiple hypotheses…

Object detection and classification in 3D is a key task in Automated Driving (AD). LiDAR sensors are employed to provide the 3D point cloud reconstruction of the surrounding environment, while the task of 3D object bounding box detection in…

Semi-supervised 3D object detection from point cloud aims to train a detector with a small number of labeled data and a large number of unlabeled data. The core of existing methods lies in how to select high-quality pseudo-labels using the…

For many practical, high-risk applications, it is essential to quantify uncertainty in a model's predictions to avoid costly mistakes. While predictive uncertainty is widely studied for neural networks, the topic seems to be under-explored…

This paper presents a generalizable RGB-based approach for object pose estimation, specifically designed to address challenges in sparse-view settings. While existing methods can estimate the poses of unseen objects, their generalization…

In this paper, we present results on improving out-of-domain weather prediction and uncertainty estimation as part of the \texttt{Shifts Challenge on Robustness and Uncertainty under Real-World Distributional Shift} challenge. We find that…

Shape completion networks have been used recently in real-world robotic experiments to complete the missing/hidden information in environments where objects are only observed in one or few instances where self-occlusions are bound to occur.…

Machine learning models play a vital role in time series forecasting. These models, however, often overlook an important element: point uncertainty estimates. Incorporating these estimates is crucial for effective risk management, informed…

We present a learning-based method to estimate the object bounding box from its 2D bird's-eye view (BEV) LiDAR points. Our method, entitled BoxNet, exploits a simple deep neural network that can efficiently handle unordered points. The…