相关论文: Object level footprint uncertainty quantification …

Methodologies for incorporating the uncertainties characteristic of data-driven object detectors into object tracking algorithms are explored. Object tracking methods rely on measurement error models, typically in the form of measurement…

The uncertainty quantification of sensor measurements coupled with deep learning networks is crucial for many robotics systems, especially for safety-critical applications such as self-driving cars. This paper develops an uncertainty…

Environment perception is the task for intelligent vehicles on which all subsequent steps rely. A key part of perception is to safely detect other road users such as vehicles, pedestrians, and cyclists. With modern deep learning techniques…

Accurate camera calibration is a precondition for many computer vision applications. Calibration errors, such as wrong model assumptions or imprecise parameter estimation, can deteriorate a system's overall performance, making the reliable…

Image-based environment perception is an important component especially for driver assistance systems or autonomous driving. In this scope, modern neuronal networks are used to identify multiple objects as well as the according position and…

In this paper, we extend the recent body of work on planning under uncertainty to include the fact that sensors may not provide any measurement owing to misdetection. This is caused either by adverse environmental conditions that prevent…

This paper investigates methods for estimating uncertainty in semantic segmentation predictions derived from satellite imagery. Estimating uncertainty for segmentation presents unique challenges compared to standard image classification,…

The uncertainty quantification of prediction models (e.g., neural networks) is crucial for their adoption in many robotics applications. This is arguably as important as making accurate predictions, especially for safety-critical…

Quantifying a model's predictive uncertainty is essential for safety-critical applications such as autonomous driving. We consider quantifying such uncertainty for multi-object detection. In particular, we leverage conformal prediction to…

3D object detection is an essential task for computer vision applications in autonomous vehicles and robotics. However, models often struggle to quantify detection reliability, leading to poor performance on unfamiliar scenes. We introduce…

The vast majority of uncertainty quantification methods for deep object detectors such as variational inference are based on the network output. Here, we study gradient-based epistemic uncertainty metrics for deep object detectors to obtain…

Landslides are a recurring, widespread hazard. Preparation and mitigation efforts can be aided by a high-quality, large-scale dataset that covers global at-risk areas. Such a dataset currently does not exist and is impossible to construct…

Reliable uncertainty estimation is crucial for robust object detection in autonomous driving. However, previous works on probabilistic object detection either learn predictive probability for bounding box regression in an un-supervised…

Legged robots maintain dynamic feasibility through multicontact interactions with terrain. Learned foothold prediction can provide feasibility-aware costs for motion planning and path selection, but accurately predicting future contacts…

In many safety-critical applications such as autonomous driving and surgical robots, it is desirable to obtain prediction uncertainties from object detection modules to help support safe decision-making. Specifically, such modules need to…

Reliable quantification of uncertainty in Mobile Laser Scanning (MLS) point clouds is essential for ensuring the accuracy and credibility of downstream applications such as 3D mapping, modeling, and change analysis. Traditional backward…

Machine learning models have emerged as a very effective strategy to sidestep time-consuming electronic-structure calculations, enabling accurate simulations of greater size, time scale and complexity. Given the interpolative nature of…

We present an online and data-driven uncertainty quantification method to enable the development of safe human-robot collaboration applications. Safety and risk assessment of systems are strongly correlated with the accuracy of…

Uncertainty quantification of the photogrammetry process is essential for providing per-point accuracy credentials of the point clouds. Unlike airborne LiDAR, whose accuracy generally remains consistent with objects with varying geometric…

In this paper, we consider the imperfection within machine learning-based 2D object detection and its impact on safety. We address a special sub-type of performance limitations: the prediction bounding box cannot be perfectly aligned with…