{"id":"https://openalex.org/W4401417359","doi":"https://doi.org/10.1109/icra57147.2024.10609987","title":"Mutual Information-calibrated Conformal Feature Fusion for Uncertainty-Aware Multimodal 3D Object Detection at the Edge","display_name":"Mutual Information-calibrated Conformal Feature Fusion for Uncertainty-Aware Multimodal 3D Object Detection at the Edge","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417359","doi":"https://doi.org/10.1109/icra57147.2024.10609987"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10609987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10609987","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090452169","display_name":"Alex C. Stutts","orcid":"https://orcid.org/0000-0002-4630-5171"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alex C. Stutts","raw_affiliation_strings":["University of Illinois Chicago (UIC),Chicago,IL"],"affiliations":[{"raw_affiliation_string":"University of Illinois Chicago (UIC),Chicago,IL","institution_ids":["https://openalex.org/I157725225","https://openalex.org/I39422238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021402401","display_name":"Danilo Erricolo","orcid":"https://orcid.org/0000-0001-6352-9567"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Danilo Erricolo","raw_affiliation_strings":["University of Illinois Chicago (UIC),Chicago,IL"],"affiliations":[{"raw_affiliation_string":"University of Illinois Chicago (UIC),Chicago,IL","institution_ids":["https://openalex.org/I157725225","https://openalex.org/I39422238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036537097","display_name":"Sathya N. Ravi","orcid":"https://orcid.org/0000-0003-3881-6323"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sathya Ravi","raw_affiliation_strings":["University of Illinois Chicago (UIC),Chicago,IL"],"affiliations":[{"raw_affiliation_string":"University of Illinois Chicago (UIC),Chicago,IL","institution_ids":["https://openalex.org/I157725225","https://openalex.org/I39422238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062751346","display_name":"Theja Tulabandhula","orcid":"https://orcid.org/0000-0001-9111-7519"},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]},{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Theja Tulabandhula","raw_affiliation_strings":["University of Illinois Chicago (UIC),Chicago,IL"],"affiliations":[{"raw_affiliation_string":"University of Illinois Chicago (UIC),Chicago,IL","institution_ids":["https://openalex.org/I157725225","https://openalex.org/I39422238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028132107","display_name":"Amit Ranjan Trivedi","orcid":"https://orcid.org/0000-0001-5436-7922"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]},{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amit Ranjan Trivedi","raw_affiliation_strings":["University of Illinois Chicago (UIC),Chicago,IL"],"affiliations":[{"raw_affiliation_string":"University of Illinois Chicago (UIC),Chicago,IL","institution_ids":["https://openalex.org/I157725225","https://openalex.org/I39422238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5090452169"],"corresponding_institution_ids":["https://openalex.org/I157725225","https://openalex.org/I39422238"],"apc_list":null,"apc_paid":null,"fwci":2.0994,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.88406501,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2029","last_page":"2035"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6335756778717041},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6004656553268433},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5727442502975464},{"id":"https://openalex.org/keywords/mutual-information","display_name":"Mutual information","score":0.5650395154953003},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.533420741558075},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.5216912627220154},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5082671046257019},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.5077117681503296},{"id":"https://openalex.org/keywords/edge-detection","display_name":"Edge detection","score":0.48855337500572205},{"id":"https://openalex.org/keywords/information-fusion","display_name":"Information fusion","score":0.4831473231315613},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.47578394412994385},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.44831162691116333},{"id":"https://openalex.org/keywords/conformal-map","display_name":"Conformal map","score":0.44238877296447754},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.432813823223114},{"id":"https://openalex.org/keywords/image-fusion","display_name":"Image fusion","score":0.423194020986557},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.21772918105125427},{"id":"https://openalex.org/keywords/image-processing","display_name":"Image processing","score":0.15755653381347656},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12556231021881104}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6335756778717041},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6004656553268433},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5727442502975464},{"id":"https://openalex.org/C152139883","wikidata":"https://www.wikidata.org/wiki/Q252973","display_name":"Mutual information","level":2,"score":0.5650395154953003},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.533420741558075},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.5216912627220154},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5082671046257019},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.5077117681503296},{"id":"https://openalex.org/C193536780","wikidata":"https://www.wikidata.org/wiki/Q1513153","display_name":"Edge detection","level":4,"score":0.48855337500572205},{"id":"https://openalex.org/C2982962833","wikidata":"https://www.wikidata.org/wiki/Q17092450","display_name":"Information fusion","level":2,"score":0.4831473231315613},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.47578394412994385},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.44831162691116333},{"id":"https://openalex.org/C98214594","wikidata":"https://www.wikidata.org/wiki/Q850275","display_name":"Conformal map","level":2,"score":0.44238877296447754},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.432813823223114},{"id":"https://openalex.org/C69744172","wikidata":"https://www.wikidata.org/wiki/Q860822","display_name":"Image fusion","level":3,"score":0.423194020986557},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.21772918105125427},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.15755653381347656},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12556231021881104},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10609987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10609987","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1553101044","https://openalex.org/W2099111195","https://openalex.org/W2150066425","https://openalex.org/W2162833336","https://openalex.org/W2171585602","https://openalex.org/W2467604901","https://openalex.org/W2555618208","https://openalex.org/W2560609797","https://openalex.org/W2766373678","https://openalex.org/W2897529137","https://openalex.org/W2903782687","https://openalex.org/W2949708697","https://openalex.org/W2951517617","https://openalex.org/W2962888833","https://openalex.org/W2963120444","https://openalex.org/W2963400571","https://openalex.org/W2963727135","https://openalex.org/W2964062501","https://openalex.org/W2968296999","https://openalex.org/W2970594690","https://openalex.org/W2979750740","https://openalex.org/W3017930107","https://openalex.org/W3035461736","https://openalex.org/W3081175302","https://openalex.org/W3095503460","https://openalex.org/W3107819843","https://openalex.org/W3108426750","https://openalex.org/W3117804044","https://openalex.org/W3129901004","https://openalex.org/W3130463448","https://openalex.org/W3175233244","https://openalex.org/W3178918215","https://openalex.org/W3209005318","https://openalex.org/W4287075774","https://openalex.org/W4297775537","https://openalex.org/W4312258136","https://openalex.org/W4312616276","https://openalex.org/W4367182782","https://openalex.org/W4389667277","https://openalex.org/W4402915933","https://openalex.org/W6685112792","https://openalex.org/W6720208624","https://openalex.org/W6737664043","https://openalex.org/W6761298178","https://openalex.org/W6784490219","https://openalex.org/W6798067434","https://openalex.org/W6849979735","https://openalex.org/W6931713756"],"related_works":["https://openalex.org/W2466816617","https://openalex.org/W1970834875","https://openalex.org/W842936808","https://openalex.org/W3174028392","https://openalex.org/W2000517284","https://openalex.org/W2365318811","https://openalex.org/W2136503713","https://openalex.org/W2375330620","https://openalex.org/W2363755581","https://openalex.org/W1977605874"],"abstract_inverted_index":{"In":[0],"the":[1,29,49,76,96,135],"expanding":[2],"landscape":[3],"of":[4,9,13,31,51,75],"AI-enabled":[5],"robotics,":[6],"robust":[7],"quantification":[8],"predictive":[10,130],"uncertainties":[11],"is":[12,103],"great":[14],"importance.":[15],"Three-dimensional":[16],"(3D)":[17],"object":[18,148],"detection,":[19],"a":[20,67,71,80,106,117],"critical":[21],"robotics":[22],"operation,":[23],"has":[24],"seen":[25],"significant":[26],"advancements;":[27],"however,":[28],"majority":[30],"current":[32],"works":[33],"focus":[34],"only":[35],"on":[36,116],"accuracy":[37],"and":[38,88,132],"ignore":[39],"uncertainty":[40,64,110,131],"quantification.":[41],"Addressing":[42],"this":[43],"gap,":[44],"our":[45],"novel":[46],"study":[47],"integrates":[48],"principles":[50],"conformal":[52],"inference":[53],"(CI)":[54],"with":[55],"information":[56,101],"theoretic":[57],"measures":[58],"to":[59,94,151],"perform":[60],"lightweight,":[61],"Monte":[62],"Carlo-free":[63],"estimation":[65],"within":[66],"multimodal":[68],"framework.":[69],"Through":[70],"multivariate":[72],"Gaussian":[73],"product":[74],"latent":[77],"variables":[78],"in":[79,145],"Variational":[81],"Autoencoder":[82],"(VAE),":[83],"features":[84],"from":[85,113],"RGB":[86],"camera":[87],"LiDAR":[89],"sensor":[90],"data":[91],"are":[92,155],"fused":[93],"improve":[95],"prediction":[97],"accuracy.":[98],"Normalized":[99],"mutual":[100],"(NMI)":[102],"leveraged":[104],"as":[105],"modulator":[107],"for":[108,161],"calibrating":[109],"bounds":[111],"derived":[112],"CI":[114],"based":[115],"weighted":[118],"loss":[119],"function.":[120],"Our":[121],"simulation":[122],"results":[123],"show":[124],"an":[125],"inverse":[126],"correlation":[127],"between":[128],"inherent":[129],"NMI":[133],"throughout":[134],"model\u2019s":[136],"training.":[137],"The":[138],"framework":[139],"demonstrates":[140],"comparable":[141],"or":[142],"better":[143],"performance":[144],"KITTI":[146],"3D":[147],"detection":[149],"benchmarks":[150],"similar":[152],"methods":[153],"that":[154],"not":[156],"uncertainty-aware,":[157],"making":[158],"it":[159],"suitable":[160],"real-time":[162],"edge":[163],"robotics.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
