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

Uncertainty estimation is crucial in safety-critical settings such as automated driving as it provides valuable information for several downstream tasks including high-level decision making and path planning. In this work, we propose…

Datasets collected from the open world unavoidably suffer from various forms of randomness or noiseness, leading to the ubiquity of aleatoric (data) uncertainty. Quantifying such uncertainty is particularly pivotal for object detection,…

A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…

In this study, we explore in depth a few under-studied topics at the intersection of uncertainty estimation and segmentation. Prior work has shown that the quality of uncertainty estimates can be very sensitive to a range of variables. As…

As deep learning-based computer vision algorithms continue to advance the state of the art, their robustness to real-world data continues to be an issue, making it difficult to bring an algorithm from the lab to the real world.…

Semi-supervised learning has emerged as an appealing strategy to train deep models with limited supervision. Most prior literature under this learning paradigm resorts to dual-based architectures, typically composed of a teacher-student…

Object detection has been applied in a wide variety of real world scenarios, so detection algorithms must provide confidence in the results to ensure that appropriate decisions can be made based on their results. Accordingly, several…

3D object-level mapping is a fundamental problem in robotics, which is especially challenging when object CAD models are unavailable during inference. In this work, we propose a framework that can reconstruct high-quality object-level maps…

Panoptic segmentation is a key enabler for robotic perception, as it unifies semantic understanding with object-level reasoning. However, the increasing complexity of state-of-the-art models makes them unsuitable for deployment on…

Accurate classification of computed tomography (CT) images is essential for diagnosis and treatment planning, but existing methods often struggle with the subtle and spatially diverse nature of pathological features. Current approaches…

Open Set Recognition (OSR) requires models not only to accurately classify known classes but also to effectively reject unknown samples. However, when unknown samples are semantically similar to known classes, inter-class overlap in the…

Current mainstream SAR image object detection methods still lack robustness when dealing with unknown objects in open environments. Open-set detection aims to enable detectors trained on a closed set to detect all known objects and identify…

We introduce an unsupervised formulation to estimate heteroscedastic uncertainty in retrieval systems. We propose an extension to triplet loss that models data uncertainty for each input. Besides improving performance, our formulation…

Environment perception is the task for intelligent vehicles on which all subsequent steps rely. A key part of perception is to safely detect other road users such as vehicles, pedestrians, and cyclists. With modern deep learning techniques…

Uncertainty estimation has been widely studied in medical image segmentation as a tool to provide reliability, particularly in deep learning approaches. However, previous methods generally lack effective supervision in uncertainty…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

Capturing uncertainty in object detection is indispensable for safe autonomous driving. In recent years, deep learning has become the de-facto approach for object detection, and many probabilistic object detectors have been proposed.…

Open-Set Object Detection (OSOD) has emerged as a contemporary research direction to address the detection of unknown objects. Recently, few works have achieved remarkable performance in the OSOD task by employing contrastive clustering to…

Comprehensive modeling of the surrounding 3D world is key to the success of autonomous driving. However, existing perception tasks like object detection, road structure segmentation, depth & elevation estimation, and open-set object…

Probabilistic convolutional neural networks, which predict distributions of predictions instead of point estimates, led to recent advances in many areas of computer vision, from image reconstruction to semantic segmentation. Besides state…