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

Off-road autonomous unmanned ground vehicles (UGVs) are being developed for military and commercial use to deliver crucial supplies in remote locations, help with mapping and surveillance, and to assist war-fighters in contested…

Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…

Artificial intelligence for autonomous driving must meet strict requirements on safety and robustness. We propose to validate machine learning models for self-driving vehicles not only with given ground truth labels, but also with…

Autonomous off-road navigation requires robots to estimate terrain traversability from onboard sensors and plan motion accordingly. Conventional approaches typically rely on sampling-based planners such as MPPI to generate short-term…

In this work, we examine the effectiveness of an uncertainty quantification framework known as Evidential Deep Learning applied in the context of biomedical image segmentation. This class of models involves assigning Dirichlet distributions…

Intelligibility and accurate uncertainty estimation are crucial for reliable decision-making. In this paper, we propose EviNAM, an extension of evidential learning that integrates the interpretability of Neural Additive Models (NAMs) with…

In this paper we propose a novel method which leverages the uncertainty measures provided by Bayesian deep networks through curriculum learning so that the uncertainty estimates are fed back to the system to resample the training data more…

Traversing terrain with good traction is crucial for achieving fast off-road navigation. Instead of manually designing costs based on terrain features, existing methods learn terrain properties directly from data via self-supervision to…

Spatial awareness is a critical capability for embodied agents, as it enables them to anticipate and reason about unobserved regions. The primary challenge arises from learning the distribution of indoor semantics, complicated by sparse,…

To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…

Uncertainty quantification (UQ) methods play an important role in reducing errors in weather forecasting. Conventional approaches in UQ for weather forecasting rely on generating an ensemble of forecasts from physics-based simulations to…

This work studies Semantic Scene Completion which aims to predict a 3D semantic segmentation of our surroundings, even though some areas are occluded. For this we construct a Bayesian Convolutional Neural Network (BCNN), which is not only…

In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently…

Recent progress in variational inference has paid much attention to the flexibility of variational posteriors. One promising direction is to use implicit distributions, i.e., distributions without tractable densities as the variational…

Given a single RGB image of a complex outdoor road scene in the perspective view, we address the novel problem of estimating an occlusion-reasoned semantic scene layout in the top-view. This challenging problem not only requires an accurate…

Understanding what knowledge is implicitly encoded in deep learning models is essential for improving the interpretability of AI systems. This paper examines common methods to explain the knowledge encoded in word embeddings, which are core…

Robust semantic scene segmentation for automotive applications is a challenging problem in two key aspects: (1) labelling every individual scene pixel and (2) performing this task under unstable weather and illumination changes (e.g., foggy…

We consider the problem of object goal navigation in unseen environments. Solving this problem requires learning of contextual semantic priors, a challenging endeavour given the spatial and semantic variability of indoor environments.…

The aim of this paper is to explore and develop advanced spatial Bayesian assessment methods and techniques for land use modeling. The paper provides a comprehensive guide for assessing additional informational entropy value of model…

As mobile robots are increasingly deployed in human environments, enabling them to predict how people perceive them is critical for socially adaptable navigation. Predicting perceptions is challenging for two main reasons: (1) HRI…