相关论文: ConvBKI: Real-Time Probabilistic Semantic Mapping …

Real-time visibility determination in expansive or dynamically changing environments has long posed a significant challenge in computer graphics. Existing techniques are computationally expensive and often applied as a precomputation step…

Deep learning models are now used in many different industries, while in certain domains safety is not a critical issue in the medical field it is a huge concern. Not only, we want the models to generalize well but we also want to know the…

Current Deep Learning methods for environment segmentation and velocity estimation rely on Convolutional Recurrent Neural Networks to exploit spatio-temporal relationships within obtained sensor data. These approaches derive scene dynamics…

Many important problems in the real world don't have unique solutions. It is thus important for machine learning models to be capable of proposing different plausible solutions with meaningful probability measures. In this work we introduce…

Motivation: The size of available omics datasets is steadily increasing with technological advancement in recent years. While this increase in sample size can be used to improve the performance of relevant prediction tasks in healthcare,…

Many algorithms in computer vision and robotics make strong assumptions about uncertainty, and rely on the validity of these assumptions to produce accurate and consistent state estimates. In practice, dynamic environments may degrade…

Robust environment perception is essential for decision-making on robots operating in complex domains. Intelligent task execution requires principled treatment of uncertainty sources in a robot's observation model. This is important not…

We propose visual-inertial simultaneous localization and mapping that tightly couples sparse reprojection errors, inertial measurement unit pre-integrals, and relative pose factors with dense volumetric occupancy mapping. Hereby depth…

Representing a signal as a continuous function parameterized by neural network (a.k.a. Implicit Neural Representations, INRs) has attracted increasing attention in recent years. Neural Processes (NPs), which model the distributions over…

In this paper the application of uncertainty modeling to convolutional neural networks is evaluated. A novel method for adjusting the network's predictions based on uncertainty information is introduced. This allows the network to be either…

Machine learning algorithms such as linear regression, SVM and neural network have played an increasingly important role in the process of scientific discovery. However, none of them is both interpretable and accurate on nonlinear datasets.…

Quantifying predictive uncertainty of deep semantic segmentation networks is essential in safety-critical tasks. In applications like autonomous driving, where video data is available, convolutional long short-term memory networks are…

Reliable probability estimation is of crucial importance in many real-world applications where there is inherent (aleatoric) uncertainty. Probability-estimation models are trained on observed outcomes (e.g. whether it has rained or not, or…

We present Sequential Neural Variational Inference (SNVI), an approach to perform Bayesian inference in models with intractable likelihoods. SNVI combines likelihood-estimation (or likelihood-ratio-estimation) with variational inference to…

Computational image reconstruction algorithms generally produce a single image without any measure of uncertainty or confidence. Regularized Maximum Likelihood (RML) and feed-forward deep learning approaches for inverse problems typically…

In this paper, we propose a novel embedding model, named ConvKB, for knowledge base completion. Our model ConvKB advances state-of-the-art models by employing a convolutional neural network, so that it can capture global relationships and…

In this work, we introduce a novel Deep Learning-based method to perceive the environment of a vehicle based on radar scans while accounting for uncertainties in its predictions. The environment of the host vehicle is segmented into equally…

Deep networks are currently the state-of-the-art for sensory perception in autonomous driving and robotics. However, deep models often generate overconfident predictions precluding proper probabilistic interpretation which we argue is due…

Semantic segmentation networks are usually pre-trained once and not updated during deployment. As a consequence, misclassifications commonly occur if the distribution of the training data deviates from the one encountered during the robot's…

We introduce DualMap, an online open-vocabulary mapping system that enables robots to understand and navigate dynamically changing environments through natural language queries. Designed for efficient semantic mapping and adaptability to…