相关论文: Mutual Information-calibrated Conformal Feature Fu…

Noise has always been nonnegligible trouble in object detection by creating confusion in model reasoning, thereby reducing the informativeness of the data. It can lead to inaccurate recognition due to the shift in the observed pattern, that…

An important paradigm in 3D object detection is the use of multiple modalities to enhance accuracy in both normal and challenging conditions, particularly for long-tail scenarios. To address this, recent studies have explored two directions…

Multi-object tracking (MOT) with camera-LiDAR fusion demands accurate results of object detection, affinity computation and data association in real time. This paper presents an efficient multi-modal MOT framework with online joint…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Multi-parametric magnetic resonance (MR) imaging is an indispensable tool in the clinic. Consequently, automatic volume-of-interest segmentation based on multi-parametric MR imaging is crucial for computer-aided disease diagnosis, treatment…

3D object detection serves as the core basis of the perception tasks in autonomous driving. Recent years have seen the rapid progress of multi-modal fusion strategies for more robust and accurate 3D object detection. However, current…

Camouflaged Object Detection (COD), the task of identifying objects concealed within their environments, has seen rapid growth due to its wide range of practical applications. A key step toward developing trustworthy COD systems is the…

We present a new way to detect 3D objects from multimodal inputs, leveraging both LiDAR and RGB cameras in a hybrid late-cascade scheme, that combines an RGB detection network and a 3D LiDAR detector. We exploit late fusion principles to…

The estimation of uncertainty in robotic vision, such as 3D object detection, is an essential component in developing safe autonomous systems aware of their own performance. However, the deployment of current uncertainty estimation methods…

Autonomous driving necessitates advanced object detection techniques that integrate information from multiple modalities to overcome the limitations associated with single-modal approaches. The challenges of aligning diverse data in early…

Multi-sensor fusion is essential for accurate 3D object detection in self-driving systems. Camera and LiDAR are the most commonly used sensors, and usually, their fusion happens at the early or late stages of 3D detectors with the help of…

Multi-modal fusion has shown initial promising results for object detection of autonomous driving perception. However, many existing fusion schemes do not consider the quality of each fusion input and may suffer from adverse conditions on…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…

Accurate sensor calibration is crucial for autonomous systems, yet its uncertainty quantification remains underexplored. We present the first approach to integrate uncertainty awareness into online extrinsic calibration, combining Monte…

In this paper, we propose a novel form of the loss function to increase the performance of LiDAR-based 3d object detection and obtain more explainable and convincing uncertainty for the prediction. The loss function was designed using…

This paper introduces a lightweight uncertainty estimator capable of predicting multimodal (disjoint) uncertainty bounds by integrating conformal prediction with a deep-learning regressor. We specifically discuss its application for visual…

In this paper, we propose a novel 3D object detector that can exploit both LIDAR as well as cameras to perform very accurate localization. Towards this goal, we design an end-to-end learnable architecture that exploits continuous…

In recent years, there has been a significant increase in applications of multimodal signal processing and analysis, largely driven by the increased availability of multimodal datasets and the rapid progress in multimodal learning systems.…

Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…

Mutual information (MI) is a fundamental measure of statistical dependence between two variables, yet accurate estimation from finite data remains notoriously difficult. No estimator is universally reliable, and common approaches fail in…