相关论文: Evidential Semantic Mapping in Off-road Environmen…

Off-road image semantic segmentation is challenging due to the presence of uneven terrains, unstructured class boundaries, irregular features and strong textures. These aspects affect the perception of the vehicle from which the information…

Recent studies in active learning, particularly in uncertainty sampling, have focused on the decomposition of model uncertainty into reducible and irreducible uncertainties. In this paper, the aim is to simplify the computational process…

In this paper, we present some results of evidential reasoning in understanding multispectral images of remote sensing systems. The Dempster-Shafer approach of combination of evidences is pursued to yield contextual classification results,…

Although neural networks have seen tremendous success as predictive models in a variety of domains, they can be overly confident in their predictions on out-of-distribution (OOD) data. To be viable for safety-critical applications, like…

Effective robotic autonomy in unknown environments demands proactive exploration and precise understanding of both geometry and semantics. In this paper, we propose ActiveSGM, an active semantic mapping framework designed to predict the…

With the availability of many datasets tailored for autonomous driving in real-world urban scenes, semantic segmentation for urban driving scenes achieves significant progress. However, semantic segmentation for off-road, unstructured…

This work proposes the use of Bayesian approximations of uncertainty from deep learning in a robot planner, showing that this produces more cautious actions in safety-critical scenarios. The case study investigated is motivated by a setup…

Autonomous language-guided navigation in large-scale outdoor environments remains a key challenge in mobile robotics, due to difficulties in semantic reasoning, dynamic conditions, and long-term stability. We propose CausalNav, the first…

We propose UAPAR, an Uncertainty-Aware Pedestrian Attribute Recognition framework. To the best of our knowledge, this is the first EDL-based uncertainty-aware framework for pedestrian attribute recognition (PAR). Unlike conventional…

Road detection or traversability analysis has been a key technique for a mobile robot to traverse complex off-road scenes. The problem has been mainly formulated in early works as a binary classification one, e.g. associating pixels with…

The lack of transparency in the decision-making processes of deep learning systems presents a significant challenge in modern artificial intelligence (AI), as it impairs users' ability to rely on and verify these systems. To address this…

Today's deep learning systems deliver high performance based on end-to-end training. While they deliver strong performance, these systems are hard to interpret. To address this issue, we propose Semantic Bottleneck Networks (SBN): deep…

The imagination of the surrounding environment based on experience and semantic cognition has great potential to extend the limited observations and provide more information for mapping, collision avoidance, and path planning. This paper…

Ensuring that predictions of machine learning (ML) classification models are accompanied by uncertainty estimates is one of the main pillars of trustworthy AI. Current research in uncertainty quantification focuses mainly on epistemic…

Uncertainty quantification plays an important role in achieving trustworthy and reliable learning-based computational imaging. Recent advances in generative modeling and Bayesian neural networks have enabled the development of…

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…

Modern intelligent and autonomous robotic applications often require robots to have more information about their environment than that provided by traditional occupancy grid maps. For example, a robot tasked to perform autonomous semantic…

This paper focuses on real-time occupancy mapping and collision checking onboard an autonomous robot navigating in an unknown environment. We propose a new map representation, in which occupied and free space are separated by the decision…

The creation of a metric-semantic map, which encodes human-prior knowledge, represents a high-level abstraction of environments. However, constructing such a map poses challenges related to the fusion of multi-modal sensor data, the…

Off-road semantic segmentation with fine-grained labels is necessary for autonomous vehicles to understand driving scenes, as the coarse-grained road detection can not satisfy off-road vehicles with various mechanical properties.…