相关论文: Exploring Real World Map Change Generalization of …
Performance on benchmark datasets has drastically improved with advances in deep learning. Still, cross-dataset generalization performance remains relatively low due to the domain shift that can occur between two different datasets. This…
Machine learning approaches have recently enabled autonomous navigation for mobile robots in a data-driven manner. Since most existing learning-based navigation systems are trained with data generated in artificially created training…
Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…
Reinforcement Learning (RL) is notoriously data-inefficient, which makes training on a real robot difficult. While model-based RL algorithms (world models) improve data-efficiency to some extent, they still require hours or days of…
Machine learning (ML) formalizes the problem of getting computers to learn from experience as optimization of performance according to some metric(s) on a set of data examples. This is in contrast to requiring behaviour specified in advance…
Robots are frequently tasked to gather relevant sensor data in unknown terrains. A key challenge for classical path planning algorithms used for autonomous information gathering is adaptively replanning paths online as the terrain is…
A face recognition model is typically trained on large datasets of images that may be collected from controlled environments. This results in performance discrepancies when applied to real-world scenarios due to the domain gap between clean…
Video prediction is a useful function for autonomous driving, enabling intelligent vehicles to reliably anticipate how driving scenes will evolve and thereby supporting reasoning and safer planning. However, existing models are constrained…
The usage of environment sensor models for virtual testing is a promising approach to reduce the testing effort of autonomous driving. However, in order to deduce any statements regarding the performance of an autonomous driving function…
Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and…
This paper considers image change detection with only a small number of samples, which is a significant problem in terms of a few annotations available. A major impediment of image change detection task is the lack of large annotated…
Depth perception is paramount to tackle real-world problems, ranging from autonomous driving to consumer applications. For the latter, depth estimation from a single image represents the most versatile solution, since a standard camera is…
Driving systems often rely on high-definition (HD) maps for precise environmental information, which is crucial for planning and navigation. While current HD map constructors perform well under ideal conditions, their resilience to…
Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the ever-changing road-network is to use crowd-sourced data…
The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…
We consider the problem of spatial path planning. In contrast to the classical solutions which optimize a new plan from scratch and assume access to the full map with ground truth obstacle locations, we learn a planner from the data in a…
We question the dominant role of real-world training images in the field of material classification by investigating whether synthesized data can generalise more effectively than real-world data. Experimental results on three challenging…
Accurately maintaining digital street maps is labor-intensive. To address this challenge, much work has studied automatically processing geospatial data sources such as GPS trajectories and satellite images to reduce the cost of maintaining…
The advent of accessible Generative AI tools enables anyone to create and spread synthetic images on social media, often with the intention to mislead, thus posing a significant threat to online information integrity. Most existing…
Geometric methods for solving open-world off-road navigation tasks, by learning occupancy and metric maps, provide good generalization but can be brittle in outdoor environments that violate their assumptions (e.g., tall grass).…