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Computer vision approaches are widely used by autonomous robotic systems to sense the world around them and to guide their decision making as they perform diverse tasks such as collision avoidance, search and rescue, and object manipulation. High accuracy is critical, particularly for Human-on-the-loop (HoTL) systems where decisions are made autonomously by the system, and humans play only a supervisory role. Failures of the vision model can lead to erroneous decisions with potentially life or death consequences. In this paper, we propose a solution based upon adaptive autonomy levels, whereby the system detects loss of reliability of these models and responds by temporarily lowering its own autonomy levels and increasing engagement of the human in the decision-making process. Our solution is applicable for vision-based tasks in which humans have time to react and provide guidance. When implemented, our approach would estimate the reliability of the vision task by considering uncertainty in its model, and by performing covariate analysis to determine when the current operating environment is ill-matched to the model's training data. We provide examples from DroneResponse, in which small Unmanned Aerial Systems are deployed for Emergency Response missions, and show how the vision model's reliability would be used in addition to confidence scores to drive and specify the behavior and adaptation of the system's autonomy. This workshop paper outlines our proposed approach and describes open challenges at the intersection of Computer Vision and Software Engineering for the safe and reliable deployment of vision models in the decision making of autonomous systems. 

The use of semi-autonomous Unmanned Aerial Vehicles (UAV) to support emergency response scenarios, such as fire surveillance and search and rescue, offers the potential for huge societal benefits. However, designing an effective solution in this complex domain represents a ``wicked design'' problem, requiring a careful balance between trade-offs associated with drone autonomy versus human control, mission functionality versus safety, and the diverse needs of different stakeholders. This paper focuses on designing for situational awareness (SA) using a scenario-driven, participatory design process. We developed SA cards describing six common design-problems, known as SA demons, and three new demons of importance to our domain. We then used these SA cards to equip domain experts with SA knowledge so that they could more fully engage in the design process. We designed a potentially reusable solution for achieving SA in multi-stakeholder, multi-UAV, emergency response applications. 

Abstract. Scientific fields that are interested in faces have developed their own sets of concepts and procedures for understanding how a tar- get model system (be it a person or algorithm) perceives a face under varying conditions. In computer vision, this has largely been in the form of dataset evaluation for recognition tasks where summary statistics are used to measure progress. While aggregate performance has continued to improve, understanding individual causes of failure has been difficult, as it is not always clear why a particular face fails to be recognized, or why an impostor is recognized by an algorithm. Importantly, other fields studying vision have addressed this via the use of visual psychophysics: the controlled manipulation of stimuli and careful study of the responses they evoke in a model system. In this paper, we suggest that visual psychophysics is a viable methodology for making face recognition algo- rithms more explainable. A comprehensive set of procedures is developed for assessing face recognition algorithm behavior, which is then deployed over state-of-the-art convolutional neural networks and more basic, yet still widely used, shallow and handcrafted feature-based approaches.