相关论文: Motion-based extrinsic sensor-to-sensor calibratio…

This work explores the effect of noisy sample selection in active learning strategies. We show on both synthetic problems and real-life use-cases that knowledge of the sample noise can significantly improve the performance of active…

Confidence calibration is a major concern when applying artificial neural networks in safety-critical applications. Since most research in this area has focused on classification in the past, confidence calibration in the scope of object…

Visual-Inertial (VI) sensors are popular in robotics, self-driving vehicles, and augmented and virtual reality applications. In order to use them for any computer vision or state-estimation task, a good calibration is essential. However,…

Autonomous vehicles and robots need to operate over a wide variety of scenarios in order to complete tasks efficiently and safely. Multi-camera self-supervised monocular depth estimation from videos is a promising way to reason about the…

Distant supervised relation extraction has been successfully applied to large corpus with thousands of relations. However, the inevitable wrong labeling problem by distant supervision will hurt the performance of relation extraction. In…

This paper proposes an approach for anomalous sound detection that incorporates outlier exposure and inlier modeling within a unified framework by multitask learning. While outlier exposure-based methods can extract features efficiently, it…

The calibration of (low-cost) inertial sensors has become increasingly important over the past years since their use has grown exponentially in many applications going from unmanned aerial vehicle navigation to 3D-animation. However, this…

Whenever a sensor is mounted on a robot hand it is important to know the relationship between the sensor and the hand. The problem of determining this relationship is referred to as hand-eye calibration, which is important in at least two…

Robustness to outliers is often a desirable property of statistical estimators. Indeed many well known estimators offer very good optimal performance in theory but are unusable in applied contexts because of their sensitivity to outliers.…

From the existing research it has been observed that many techniques and methodologies are available for performing every step of Automatic Speech Recognition (ASR) system, but the performance (Minimization of Word Error Recognition-WER and…

While camera and LiDAR are widely used in most of the assisted and autonomous driving systems, only a few works have been proposed to associate the temporal synchronization and extrinsic calibration for camera and LiDAR which are dedicated…

With the recent advances in autonomous driving and the decreasing cost of LiDARs, the use of multimodal sensor systems is on the rise. However, in order to make use of the information provided by a variety of complimentary sensors, it is…

Extrinsic Calibration represents the cornerstone of autonomous driving. Its accuracy plays a crucial role in the perception pipeline, as any errors can have implications for the safety of the vehicle. Modern sensor systems collect different…

Generating human motion that satisfies customized zero-shot goal functions, enabling applications such as controllable character animation and behavior synthesis for virtual agents, is a critical capability. While current approaches handle…

Low-cost micro-electromechanical accelerometers are widely used in navigation, robotics, and consumer devices for motion sensing and position estimation. However, their performance is often degraded by bias errors. To eliminate…

Many robotic sensor estimation problems can characterized in terms of nonlinear measurement systems. These systems are contaminated with noise and may be underdetermined from a single observation. In order to get reliable estimation…

In a multi-sensor fusion system composed of cameras and LiDAR, precise extrinsic calibration contributes to the system's long-term stability and accurate perception of the environment. However, methods based on extracting and registering…

Robust manipulation often hinges on a robot's ability to perceive extrinsic contacts-contacts between a grasped object and its surrounding environment. However, these contacts are difficult to observe through vision alone due to occlusions,…

We propose a method for variable selection in the intensity function of spatial point processes that combines sparsity-promoting estimation with noise-robust model selection. As high-resolution spatial data becomes increasingly available…

Robust environment perception is essential for decision-making on robots operating in complex domains. Principled treatment of uncertainty sources in a robot's observation model is necessary for accurate mapping and object detection. This…