相关论文: Uncertainty-Aware AB3DMOT by Variational 3D Object…

In this paper, we propose a novel form of the loss function to increase the performance of LiDAR-based 3d object detection and obtain more explainable and convincing uncertainty for the prediction. The loss function was designed using…

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…

Active learning has emerged as a promising approach to reduce the substantial annotation burden in 3D object detection tasks, spurring several initiatives in outdoor environments. However, its application in indoor environments remains…

The proliferation of Deep Neural Networks has resulted in machine learning systems becoming increasingly more present in various real-world applications. Consequently, there is a growing demand for highly reliable models in many domains,…

In the existing literature, most 3D multi-object tracking algorithms based on the tracking-by-detection framework employed deterministic tracks and detections for similarity calculation in the data association stage. Namely, the inherent…

Traversability estimation in rugged, unstructured environments remains a challenging problem in field robotics. Often, the need for precise, accurate traversability estimation is in direct opposition to the limited sensing and compute…

Recent efforts in deploying Deep Neural Networks for object detection in real world applications, such as autonomous driving, assume that all relevant object classes have been observed during training. Quantifying the performance of these…

3D object reconstruction is important for semantic scene understanding. It is challenging to reconstruct detailed 3D shapes from monocular images directly due to a lack of depth information, occlusion and noise. Most current methods…

Accurate 3D multi-object tracking (MOT) is vital for autonomous vehicles, yet LiDAR and camera-based methods degrade in adverse weather. Meanwhile, Radar-based solutions remain robust but often suffer from limited vertical resolution and…

This paper presents a safe, efficient, and agile ground vehicle navigation algorithm for 3D off-road terrain environments. Off-road navigation is subject to uncertain vehicle-terrain interactions caused by different terrain conditions on…

This paper introduces a novel approach to quantify the uncertainties in fault diagnosis of motor drives using Bayesian neural networks (BNN). Conventional data-driven approaches used for fault diagnosis often rely on point-estimate neural…

Most mobile robots for indoor use rely on 2D laser scanners for localization, mapping and navigation. These sensors, however, cannot detect transparent surfaces or measure the full occupancy of complex objects such as tables. Deep Neural…

We propose a novel camera-based DNN method for 3D lane detection with uncertainty estimation. Our method is based on a semi-local, BEV, tile representation that breaks down lanes into simple lane segments. It combines learning a parametric…

Uncertainty estimation is crucial in safety-critical settings such as automated driving as it provides valuable information for several downstream tasks including high-level decision making and path planning. In this work, we propose…

A key factor for ensuring safety in Autonomous Vehicles (AVs) is to avoid any abnormal behaviors under undesirable and unpredicted circumstances. As AVs increasingly rely on Deep Neural Networks (DNNs) to perform safety-critical tasks,…

In this paper, we present LaserNet, a computationally efficient method for 3D object detection from LiDAR data for autonomous driving. The efficiency results from processing LiDAR data in the native range view of the sensor, where the input…

Input aggregation is a simple technique used by state-of-the-art LiDAR 3D object detectors to improve detection. However, increasing aggregation is known to have diminishing returns and even performance degradation, due to objects…

Capturing uncertainty in object detection is indispensable for safe autonomous driving. In recent years, deep learning has become the de-facto approach for object detection, and many probabilistic object detectors have been proposed.…

Future urban transportation concepts include a mixture of ground and air vehicles with varying degrees of autonomy in a congested environment. In such dynamic environments, occupancy maps alone are not sufficient for safe path planning.…

Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and more advanced encoding techniques. In this work, we…