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

Recent machine learning-based multi-object tracking (MOT) frameworks are becoming popular for 3-D point clouds. Most traditional tracking approaches use filters (e.g., Kalman filter or particle filter) to predict object locations in a time…

Deep neural networks (DNNs) are known to produce incorrect predictions with very high confidence on out-of-distribution inputs (OODs). This limitation is one of the key challenges in the adoption of DNNs in high-assurance systems such as…

3D object detection is crucial for Autonomous Driving (AD) and Advanced Driver Assistance Systems (ADAS). However, most 3D detectors prioritize detection accuracy, often overlooking network inference speed in practical applications. In this…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

The rapid evolution of automated vehicles (AVs) has the potential to provide safer, more efficient, and comfortable travel options. However, these systems face challenges regarding reliability in complex driving scenarios. Recent…

In this paper, we introduce a new technique that combines two popular methods to estimate uncertainty in object detection. Quantifying uncertainty is critical in real-world robotic applications. Traditional detection models can be ambiguous…

Deep Learning (DL) has become essential in various robotics applications due to excelling at processing raw sensory data to extract task specific information from semantic objects. For example, vision-based object-relative navigation relies…

The detection of unknown traffic obstacles is vital to ensure safe autonomous driving. The standard object-detection methods cannot identify unknown objects that are not included under predefined categories. This is because object-detection…

Autonomous driving, in recent years, has been receiving increasing attention for its potential to relieve drivers' burdens and improve the safety of driving. In modern autonomous driving pipelines, the perception system is an indispensable…

Deep neural networks (DNNs) provide state-of-the-art results for a multitude of applications, but the approaches using DNNs for multimodal audiovisual applications do not consider predictive uncertainty associated with individual…

Detecting dynamic objects and predicting static road information such as drivable areas and ground heights are crucial for safe autonomous driving. Previous works studied each perception task separately, and lacked a collective quantitative…

Traditional high-quality 3D scanning and reconstruction typically relies on human labor to plan the scanning procedure. With the rapid development of embodied systems such as drones and robots, there is a growing demand of performing…

3D object-level mapping is a fundamental problem in robotics, which is especially challenging when object CAD models are unavailable during inference. In this work, we propose a framework that can reconstruct high-quality object-level maps…

Predictive uncertainty estimation is an essential next step for the reliable deployment of deep object detectors in safety-critical tasks. In this work, we focus on estimating predictive distributions for bounding box regression output with…

Without manually annotated identities, unsupervised multi-object trackers are inferior to learning reliable feature embeddings. It causes the similarity-based inter-frame association stage also be error-prone, where an uncertainty problem…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

Outdoor 3D object detection has played an essential role in the environment perception of autonomous driving. In complicated traffic situations, precise object recognition provides indispensable information for prediction and planning in…

Active 3D reconstruction of moving objects requires selecting informative viewpoints while accounting for object motion uncertainty during the decision-to-execution delay. Existing methods address only parts of this problem: next-best-view…

Many interventional surgical procedures rely on medical imaging to visualise and track instruments. Such imaging methods not only need to be real-time capable, but also provide accurate and robust positional information. In ultrasound…

Vehicular sensor networks (VSNs) are built on top of vehicular ad-hoc networks (VANETs) by equipping vehicles with sensing devices. These new technologies create a huge opportunity to extend the sensing capabilities of the existing road…