相关论文: Predictive Uncertainty Quantification for Bird's E…

Bird's-eye-view (BEV) grid is a typical representation of the perception of road components, e.g., drivable area, in autonomous driving. Most existing approaches rely on cameras only to perform segmentation in BEV space, which is…

The uncertainty quantification of prediction models (e.g., neural networks) is crucial for their adoption in many robotics applications. This is arguably as important as making accurate predictions, especially for safety-critical…

Visual bird's eye view (BEV) perception, due to its excellent perceptual capabilities, is progressively replacing costly LiDAR-based perception systems, especially in the realm of urban intelligent driving. However, this type of perception…

Bird's-eye-view (BEV) representation is crucial for the perception function in autonomous driving tasks. It is difficult to balance the accuracy, efficiency and range of BEV representation. The existing works are restricted to a limited…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…

Existing LiDAR-based 3D object detection methods for autonomous driving scenarios mainly adopt the training-from-scratch paradigm. Unfortunately, this paradigm heavily relies on large-scale labeled data, whose collection can be expensive…

Bird's eye view (BEV) perception is becoming increasingly important in the field of autonomous driving. It uses multi-view camera data to learn a transformer model that directly projects the perception of the road environment onto the BEV…

Reliable scene understanding is indispensable for modern autonomous systems. Current learning-based methods typically try to maximize their performance based on segmentation metrics that only consider the quality of the segmentation.…

Bird's eye view (BEV) representation is a new perception formulation for autonomous driving, which is based on spatial fusion. Further, temporal fusion is also introduced in BEV representation and gains great success. In this work, we…

In this paper, we present BEVerse, a unified framework for 3D perception and prediction based on multi-camera systems. Unlike existing studies focusing on the improvement of single-task approaches, BEVerse features in producing…

Detecting diverse objects within complex indoor 3D point clouds presents significant challenges for robotic perception, particularly with varied object shapes, clutter, and the co-existence of static and dynamic elements where traditional…

Detection of moving objects is a very important task in autonomous driving systems. After the perception phase, motion planning is typically performed in Bird's Eye View (BEV) space. This would require projection of objects detected on the…

Accurate perception and scene understanding in complex urban environments is a critical challenge for ensuring safe and efficient autonomous navigation. In this paper, we present Co-Win, a novel bird's eye view (BEV) perception framework…

Despite the recent improvements in overall accuracy, deep learning systems still exhibit low levels of robustness. Detecting possible failures is critical for a successful clinical integration of these systems, where each data point…

Precise estimation of predictive uncertainty in deep neural networks is a critical requirement for reliable decision-making in machine learning and statistical modeling, particularly in the context of medical AI. Conformal Prediction (CP)…

Calibrated confidence estimates obtained from neural networks are crucial, particularly for safety-critical applications such as autonomous driving or medical image diagnosis. However, although the task of confidence calibration has been…

Bird's eye view (BEV) semantic segmentation plays a crucial role in spatial sensing for autonomous driving. Although recent literature has made significant progress on BEV map understanding, they are all based on single-agent camera-based…

Uncertainty quantification by ensemble learning is explored in terms of an application from computational optical form measurements. The application requires to solve a large-scale, nonlinear inverse problem. Ensemble learning is used to…

We present a critical survey on the consistency of uncertainty quantification used in deep learning and highlight partial uncertainty coverage and many inconsistencies. We then provide a comprehensive and statistically consistent framework…

Integrating LiDAR and camera information into Bird's-Eye-View (BEV) representation has emerged as a crucial aspect of 3D object detection in autonomous driving. However, existing methods are susceptible to the inaccurate calibration…