相关论文: Open-Set LiDAR Panoptic Segmentation Guided by Unc…

Deep neural networks (DNNs) have witnessed great successes in semantic segmentation, which requires a large number of labeled data for training. We present a novel learning framework called Uncertainty guided Cross-head Co-training (UCC)…

In this work, we introduce panoramic panoptic segmentation as the most holistic scene understanding both in terms of field of view and image level understanding for standard camera based input. A complete surrounding understanding provides…

Recent advances in vision foundation models, such as the Segment Anything Model (SAM) and its successor SAM2, have achieved state-of-the-art performance on general image segmentation benchmarks. However, these models struggle in adverse…

Accurate and efficient segmentation of unknown objects in unstructured environments is essential for robotic manipulation. Unknown Object Instance Segmentation (UOIS), which aims to identify all objects in unknown categories and…

Existing point cloud semantic segmentation networks cannot identify unknown classes and update their knowledge, due to a closed-set and static perspective of the real world, which would induce the intelligent agent to make bad decisions. To…

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…

The operating environment of a highly automated vehicle is subject to change, e.g., weather, illumination, or the scenario containing different objects and other participants in which the highly automated vehicle has to navigate its…

Object detection is a critical component of a self-driving system, tasked with inferring the current states of the surrounding traffic actors. While there exist a number of studies on the problem of inferring the position and shape of…

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…

In this work, we train a network to simultaneously perform segmentation and pixel-wise Out-of-Distribution (OoD) detection, such that the segmentation of unknown regions of scenes can be rejected. This is made possible by leveraging an OoD…

Small-sized unmanned surface vehicles (USV) are coastal water devices with a broad range of applications such as environmental control and surveillance. A crucial capability for autonomous operation is obstacle detection for timely reaction…

This technical report presents the 1st place winning solution for the Waymo Open Dataset 3D semantic segmentation challenge 2022. Our network, termed LidarMultiNet, unifies the major LiDAR perception tasks such as 3D semantic segmentation,…

Reliable quantification of uncertainty in Mobile Laser Scanning (MLS) point clouds is essential for ensuring the accuracy and credibility of downstream applications such as 3D mapping, modeling, and change analysis. Traditional backward…

In autonomous driving, the novel objects and lack of annotations challenge the traditional 3D LiDAR semantic segmentation based on deep learning. Few-shot learning is a feasible way to solve these issues. However, currently few-shot…

Object detection in autonomous cars is commonly based on camera images and Lidar inputs, which are often used to train prediction models such as deep artificial neural networks for decision making for object recognition, adjusting speed,…

Humans have the remarkable ability to perceive objects as a whole, even when parts of them are occluded. This ability of amodal perception forms the basis of our perceptual and cognitive understanding of our world. To enable robots to…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

Machine learning (ML) systems often encounter Out-of-Distribution (OoD) errors when dealing with testing data coming from a distribution different from training data. It becomes important for ML systems in critical applications to…

Open-World Object Detection (OWOD) extends object detection problem to a realistic and dynamic scenario, where a detection model is required to be capable of detecting both known and unknown objects and incrementally learning newly…

Neural networks for image classification tasks assume that any given image during inference belongs to one of the training classes. This closed-set assumption is challenged in real-world applications where models may encounter inputs of…