arXiv subjects

Andrea Kraus

Publications and source records attributed to Andrea Kraus.

2 recordsLinked to original sources

arXiv2019

Complexer-YOLO: Real-Time 3D Object Detection and Tracking on Semantic Point Clouds

Accurate detection of 3D objects is a fundamental problem in computer vision and has an enormous impact on autonomous cars, augmented/virtual reality and many applications in robotics. In this work we present a novel fusion of neural network based state-of-the-art 3D detector and visual semantic segmentation in the context of autonomous driving. Additionally, we introduce Scale-Rotation-Translation score (SRTs), a fast and highly parameterizable evaluation metric for comparison of object detections, which speeds up our inference time up to 20\% and halves training time. On top, we apply state-of-the-art online multi target feature tracking on the object measurements to further increase accuracy and robustness utilizing temporal information. Our experiments on KITTI show that we achieve same results as state-of-the-art in all related categories, while maintaining the performance and accuracy trade-off and still run in real-time. Furthermore, our model is the first one that fuses visual semantic with 3D object detection.

cs.CV↗

arXiv2018

Parameter estimation for discretely-observed linear birth-and-death processes

Birth-and-death processes are widely used to model the development of biological populations. Although they are relatively simple models, their parameters can be challenging to estimate, because the likelihood can become numerically unstable when data arise from the most common sampling schemes, such as annual population censuses. Simple estimators may be based on an embedded Galton-Watson process, but this presupposes that the observation times are equi-spaced. We estimate the birth, death, and growth rates of a linear birth-and-death process whose population size is periodically observed via an embedded Galton-Watson process, and by maximizing a saddlepoint approximation to the likelihood. We show that a Gaussian approximation to the saddlepoint-based likelihood connects the two approaches, we establish consistency and asymptotic normality of quasi-likelihood estimators, compare our estimators on some numerical examples, and apply our results to census data for two endangered bird populations and the H1N1 influenza pandemic.

math.ST↗