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

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Scene understanding is a pivotal task for autonomous vehicles to safely navigate in the environment. Recent advances in deep learning enable accurate semantic reconstruction of the surroundings from LiDAR data. However, these models…

3D object detection is an essential task for computer vision applications in autonomous vehicles and robotics. However, models often struggle to quantify detection reliability, leading to poor performance on unfamiliar scenes. We introduce…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

Deep learning has led to remarkable strides in scene understanding with panoptic segmentation emerging as a key holistic scene interpretation task. However, the performance of panoptic segmentation is severely impacted in the presence of…

Unknown Object Detection (UOD) aims to identify objects of unseen categories, differing from the traditional detection paradigm limited by the closed-world assumption. A key component of UOD is learning a generalized representation, i.e.…

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…

Since radiologists have different training and clinical experiences, they may provide various segmentation annotations for a lung nodule. Conventional studies choose a single annotation as the learning target by default, but they waste…

The availability of a robust map-based localization system is essential for the operation of many autonomously navigating vehicles. Since uncertainty is an inevitable part of perception, it is beneficial for the robustness of the robot to…

State-of-the-art lidar panoptic segmentation (LPS) methods follow bottom-up segmentation-centric fashion wherein they build upon semantic segmentation networks by utilizing clustering to obtain object instances. In this paper, we re-think…

Understanding the surrounding environment is fundamental in autonomous driving and robotic perception. Distinguishing between known classes and previously unseen objects is crucial in real-world environments, as done in Anomaly…

Accurate and robust ultrasound image segmentation is critical for computer-aided diagnostic systems. Nevertheless, the inherent challenges of ultrasound imaging, such as blurry boundaries and speckle noise, often cause traditional…

With the human pursuit of knowledge, open-set object detection (OSOD) has been designed to identify unknown objects in a dynamic world. However, an issue with the current setting is that all the predicted unknown objects share the same…

In this paper, we propose a novel form of the loss function to increase the performance of LiDAR-based 3d object detection and obtain more explainable and convincing uncertainty for the prediction. The loss function was designed using…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…

In the past few years, we have seen great progress in perception algorithms, particular through the use of deep learning. However, most existing approaches focus on a few categories of interest, which represent only a small fraction of the…

3D object detection has been wildly studied in recent years, especially for robot perception systems. However, existing 3D object detection is under a closed-set condition, meaning that the network can only output boxes of trained classes.…

Recognizing unknown objects is crucial for safety-critical applications such as autonomous driving and robotics. Open-Set Panoptic Segmentation (OPS) aims to segment known thing and stuff classes while identifying valid unknown objects as…

Many top-down architectures for instance segmentation achieve significant success when trained and tested on pre-defined closed-world taxonomy. However, when deployed in the open world, they exhibit notable bias towards seen classes and…

Accurate vessel segmentation is essential for medical image analysis, yet remains challenging due to complex vascular patterns and imaging ambiguity. Most deep models rely on single-pass prediction, limiting their ability to refine…