相关论文: On the Overconfidence Problem in Semantic 3D Mappi…

The confidence calibration of deep learning-based perception models plays a crucial role in their reliability. Especially in the context of autonomous driving, downstream tasks like prediction and planning depend on accurate confidence…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

3D semantic occupancy prediction is crucial for finely representing the surrounding environment, which is essential for ensuring the safety in autonomous driving. Existing fusion-based occupancy methods typically involve performing a…

The efficient fusion of depth maps is a key part of most state-of-the-art 3D reconstruction methods. Besides requiring high accuracy, these depth fusion methods need to be scalable and real-time capable. To this end, we present a novel…

Most existing RGB-D semantic segmentation methods focus on the feature level fusion, including complex cross-modality and cross-scale fusion modules. However, these methods may cause misalignment problem in the feature fusion process and…

In this paper, we aim to address the challenging task of semantic matching where matching ambiguity is difficult to resolve even with learned deep features. We tackle this problem by taking into account the confidence in predictions and…

3D LiDARs and 2D cameras are increasingly being used alongside each other in sensor rigs for perception tasks. Before these sensors can be used to gather meaningful data, however, their extrinsics (and intrinsics) need to be accurately…

Semi-supervised learning has become a dominant paradigm for reducing annotation costs. However, we argue that the current progress is clouded by a twofold overconfidence problem. Algorithmically, mainstream pseudo-labeling frameworks often…

Depth estimation is critical in autonomous driving for interpreting 3D scenes accurately. Recently, radar-camera depth estimation has become of sufficient interest due to the robustness and low-cost properties of radar. Thus, this paper…

Map construction task plays a vital role in providing precise and comprehensive static environmental information essential for autonomous driving systems. Primary sensors include cameras and LiDAR, with configurations varying between…

This paper tackles the problem of data fusion in the semantic scene completion (SSC) task, which can simultaneously deal with semantic labeling and scene completion. RGB images contain texture details of the object(s) which are vital for…

Reliable uncertainty calibration is essential for safely deploying deep neural networks in high-stakes applications. Deep neural networks are known to exhibit systematic overconfidence, especially under distribution shifts. Although…

Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…

High-definition (HD) semantic map generation of the environment is an essential component of autonomous driving. Existing methods have achieved good performance in this task by fusing different sensor modalities, such as LiDAR and camera.…

Bayesian calibration is widely used for inverse analysis and uncertainty analysis for complex systems in the presence of both computer models and observation data. In the present work, we focus on large-scale fluid-structure interaction…

Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…

Many hand-held or mixed reality devices are used with a single sensor for 3D reconstruction, although they often comprise multiple sensors. Multi-sensor depth fusion is able to substantially improve the robustness and accuracy of 3D…

Robust semantic perception for autonomous vehicles relies on effectively combining multiple sensors with complementary strengths and weaknesses. State-of-the-art sensor fusion approaches to semantic perception often treat sensor data…

Monocular depth estimation from RGB images plays a pivotal role in 3D vision. However, its accuracy can deteriorate in challenging environments such as nighttime or adverse weather conditions. While long-wave infrared cameras offer stable…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…