相关论文: Harnessing Uncertainty-aware Bounding Boxes for Un…

Estimating the uncertainty of a neural network plays a fundamental role in safety-critical settings. In perception for autonomous driving, measuring the uncertainty means providing additional calibrated information to downstream tasks, such…

Current 3D object detection models follow a single dataset-specific training and testing paradigm, which often faces a serious detection accuracy drop when they are directly deployed in another dataset. In this paper, we study the task of…

Uncertainty estimation aims to evaluate the confidence of a trained deep neural network. However, existing uncertainty estimation approaches rely on low-dimensional distributional assumptions and thus suffer from the high dimensionality of…

Large language models (LLMs) exhibit impressive fluency, but often produce critical errors known as "hallucinations". Uncertainty quantification (UQ) methods are a promising tool for coping with this fundamental shortcoming. Yet, existing…

Interference detection of arbitrary geometric objects is not a trivial task due to the heavy computational load imposed by implementation issues. The hierarchically structured bounding boxes help us to quickly isolate the contour of…

The success of fully supervised saliency detection models depends on a large number of pixel-wise labeling. In this paper, we work on bounding-box based weakly-supervised saliency detection to relieve the labeling effort. Given the bounding…

While 3D object bounding box (bbox) representation has been widely used in autonomous driving perception, it lacks the ability to capture the precise details of an object's intrinsic geometry. Recently, occupancy has emerged as a promising…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

In this study, we formulate the task of Video Anomaly Detection as a probabilistic analysis of object bounding boxes. We hypothesize that the representation of objects via their bounding boxes only, can be sufficient to successfully…

In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…

Current object detection frameworks mainly rely on bounding box regression to localize objects. Despite the remarkable progress in recent years, the precision of bounding box regression remains unsatisfactory, hence limiting performance in…

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…

We develop an unsupervised, nonparametric, and scalable statistical learning method for detection of unknown objects in noisy images. The method uses results from percolation theory and random graph theory. We present an algorithm that…

In this paper, we propose a weakly-supervised approach for 3D object detection, which makes it possible to train a strong 3D detector with position-level annotations (i.e. annotations of object centers). In order to remedy the information…

Dense prediction tasks are common for 3D point clouds, but the uncertainties inherent in massive points and their embeddings have long been ignored. In this work, we present CUE, a novel uncertainty estimation method for dense prediction…

In this paper, we present an active exploration framework for high-fidelity 3D reconstruction that incrementally builds a multi-level uncertainty space and selects next-best-views through an uncertainty-driven motion planner. We introduce a…

In this paper, we focus on semi-supervised object detection to boost performance of proposal-based object detectors (a.k.a. two-stage object detectors) by training on both labeled and unlabeled data. However, it is non-trivial to train…

Compared to typical multi-sensor systems, monocular 3D object detection has attracted much attention due to its simple configuration. However, there is still a significant gap between LiDAR-based and monocular-based methods. In this paper,…

To assure that an autonomous car is driving safely on public roads, its object detection module should not only work correctly, but show its prediction confidence as well. Previous object detectors driven by deep learning do not explicitly…

In the field of state-of-the-art object detection, the task of object localization is typically accomplished through a dedicated subnet that emphasizes bounding box regression. This subnet traditionally predicts the object's position by…