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We propose a single-stage, category-level 6-DoF pose estimation algorithm that simultaneously detects and tracks instances of objects within a known category. Our method takes as input the previous and current frame from a monocular RGB video, as well as predictions from the previous frame, to predict the bounding cuboid and 6- DoF pose (up to scale). Internally, a deep network predicts distributions over object keypoints (vertices of the bounding cuboid) in image coordinates, after which a novel probabilistic filtering process integrates across estimates before computing the final pose using PnP. Our framework allows the system to take previous uncertainties into consideration when predicting the current frame, resulting in predictions that are more accurate and stable than single frame methods. Extensive experiments show that our method outperforms existing approaches on the challenging Objectron benchmark of annotated object videos. We also demonstrate the usability of our work in an augmented reality setting.
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This content will become publicly available on April 11, 2026
Interpretable Failure Detection with Human-Level Concepts
Reliable failure detection holds paramount importance in safety-critical applications.Yet, neural networks are known to produce overconfident predictions for misclassified samples. As a result, it remains a problematic matter as existing confidence score functions rely on category-level signals, the logits, to detect failures. This research introduces an innovative strategy, leveraging human-level concepts for a dual purpose: to reliably detect when a model fails and to transparently interpret why.By integrating a nuanced array of signals for each category, our method enables a finer-grained assessment of the model's confidence.We present a simple yet highly effective approach based on the ordinal ranking of concept activation to the input image. Without bells and whistles, our method is able to significantly reduce the false positive rate across diverse real-world image classification benchmarks, specifically by 3.7% on ImageNet and 9.0% on EuroSAT.
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- Award ID(s):
- 2340074
- PAR ID:
- 10617646
- Publisher / Repository:
- Proceedings of the AAAI Conference on Artificial Intelligence
- Date Published:
- Journal Name:
- Proceedings of the AAAI Conference on Artificial Intelligence
- Volume:
- 39
- Issue:
- 25
- ISSN:
- 2159-5399
- Page Range / eLocation ID:
- 26326 to 26334
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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