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

Online 3D multi-object tracking (MOT) has witnessed significant research interest in recent years, largely driven by demand from the autonomous systems community. However, 3D offline MOT is relatively less explored. Labeling 3D trajectory…

We introduce H3DNet, which takes a colorless 3D point cloud as input and outputs a collection of oriented object bounding boxes (or BB) and their semantic labels. The critical idea of H3DNet is to predict a hybrid set of geometric…

Modern autonomous navigation for unmanned ground vehicles relies on different estimators to fuse inertial sensors and GNSS measurements. However, the constant noise covariance matrices often struggle to account for dynamic real-world…

3D object detection has recently received much attention due to its great potential in autonomous vehicle (AV). The success of deep learning based object detectors relies on the availability of large-scale annotated datasets, which is…

This work addresses the critical lack of precision in state estimation in the Kalman filter for 3D multi-object tracking (MOT) and the ongoing challenge of selecting the appropriate motion model. Existing literature commonly relies on…

Uncertainty estimation is essential to make neural networks trustworthy in real-world applications. Extensive research efforts have been made to quantify and reduce predictive uncertainty. However, most existing works are designed for…

With the advancements made in deep learning, computer vision problems like object detection and segmentation have seen a great improvement in performance. However, in many real-world applications such as autonomous driving vehicles, the…

Neural networks are often overconfident about their predictions, which undermines their reliability and trustworthiness. In this work, we present a novel technique, named Error-Driven Uncertainty Aware Training (EUAT), which aims to enhance…

3D object detection received increasing attention in autonomous driving recently. Objects in 3D scenes are distributed with diverse orientations. Ordinary detectors do not explicitly model the variations of rotation and reflection…

There has been a growing interest in deep learning-based prognostic and health management (PHM) for building end-to-end maintenance decision support systems, especially due to the rapid development of autonomous systems. However, the low…

3D object tracking is a critical task in autonomous driving systems. It plays an essential role for the system's awareness about the surrounding environment. At the same time there is an increasing interest in algorithms for autonomous cars…

Accurately estimating the orientation of pedestrians is an important and challenging task for autonomous driving because this information is essential for tracking and predicting pedestrian behavior. This paper presents a flexible Virtual…

Uncertainty estimation aims to evaluate the confidence of a trained deep neural network. However, existing uncertainty estimation approaches rely on low-dimensional distributional assumptions and thus suffer from the high dimensionality of…

Object detectors in real-world applications often fail to detect objects due to varying factors such as weather conditions and noisy input. Therefore, a process that mitigates false detections is crucial for both safety and accuracy. While…

Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

A rise in popularity of Deep Neural Networks (DNNs), attributed to more powerful GPUs and widely available datasets, has seen them being increasingly used within safety-critical domains. One such domain, self-driving, has benefited from…

Unmanned Aerial Vehicles (UAV) can pose a major risk for aviation safety, due to both negligent and malicious use. For this reason, the automated detection and tracking of UAV is a fundamental task in aerial security systems. Common…

Tracking of objects in 3D is a fundamental task in computer vision that finds use in a wide range of applications such as autonomous driving, robotics or augmented reality. Most recent approaches for 3D multi object tracking (MOT) from…

This paper presents a novel guidance law for target tracking applications where the target motion model is unknown and sensor measurements are intermittent due to unknown environmental conditions and low measurement update rate. In this…