相关论文: Overcoming the Limitations of Localization Uncerta…

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…

Computationally efficient moving object detection and depth estimation from a stereo camera is an extremely useful tool for many computer vision applications, including robotics and autonomous driving. In this paper we show how moving…

We analyze gradient descent with randomly weighted data points in a linear regression model, under a generic weighting distribution. This includes various forms of stochastic gradient descent, importance sampling, but also extends to…

We consider the problem of uncertainty estimation in the context of (non-Bayesian) deep neural classification. In this context, all known methods are based on extracting uncertainty signals from a trained network optimized to solve the…

Real-world network applications must cope with failing nodes, malicious attacks, or, somehow, nodes facing corrupted data --- classified as outliers. One enabling application is the geographic localization of the network nodes. However,…

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…

Accurate state and uncertainty estimation is imperative for mobile robots and self driving vehicles to achieve safe navigation in pedestrian rich environments. A critical component of state and uncertainty estimation for robot navigation is…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

We study how the training data distribution affects confidence and performance in image classification models. We introduce Embedding Density, a model-agnostic framework that estimates prediction confidence by measuring the distance of test…

In autonomous systems, precise object detection and uncertainty estimation are critical for self-aware and safe operation. This work addresses confidence calibration for the classification task of 3D object detectors. We argue that it is…

We study the problem of robustly estimating the mean or location parameter without moment assumptions. We show that for a large class of symmetric distributions, the same error as in the Gaussian setting can be achieved efficiently. The…

Arbitrary-oriented object detection has been a building block for rotation sensitive tasks. We first show that the boundary problem suffered in existing dominant regression-based rotation detectors, is caused by angular periodicity or…

This paper studies the classical problem of detecting the locations of signal occurrences in a one-dimensional noisy measurement. Assuming the signal occurrences do not overlap, we formulate the detection task as a constrained likelihood…

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…

Ultra-fast, precise, and controlled amplitude surrogates are essential for future LHC event generation. First, we investigate the noise reduction and biases of network ensembles and outline a new method to learn well-calibrated systematic…

Deep learning offers promising new ways to accurately model aleatoric uncertainty in robotic state estimation systems, particularly when the uncertainty distributions do not conform to traditional assumptions of being fixed and Gaussian. In…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

Quantifying and reducing uncertainty in Earth system model parameterizations is essential to improving their reliability in decision-making. Forward uncertainty propagation is used to derive parameter sensitivity but requires physically…

Camera localization, i.e., camera pose regression, represents an important task in computer vision since it has many practical applications such as in the context of intelligent vehicles and their localization. Having reliable estimates of…

Uncertainty quantification in automated image analysis is highly desired in many applications. Typically, machine learning models in classification or segmentation are only developed to provide binary answers; however, quantifying the…