Beyond Bayer: Task-Optimal Sensor Co-Design for Robust Autonomous-Driving Segmentation

Robust perception underpins autonomous driving, and most recent progress comes from scaling the model-larger backbones, foundation models, and cooperative multi-agent fusion. We pursue a complementary, upstream question: what should the camera itself measure? Using a differentiable RAW-to-task pipeline, we decompose which sensor degrees of freedom benefit dense prediction. Learning the spectral colour-filter-array (CFA) weights is the dominant lever, improving mIoU by +0.017 (KITTI-360) and +0.023 (ACDC) over a fixed camera. In contrast, point-spread-function (optics) co-design is net-negative (-0.020 mIoU on KITTI-360) - a consequence of the data-processing inequality, which also bounds the task information that any downstream model, however large or cooperative, can recover. Noise co-optimisation is marginal, and counter to intuition enlarging the CFA tile beyond 2x2 consistently hurts, as the filters are confined to the rank three sRGB input. Because the intervention is at the sensor, the gains are model-agnostic; we validate robustness on ACDC's fog, night, rain, and snow, and conclude with a simple recipe: learn the 2x2 CFA weights and keep an identity PSF.

Adaptive Extensions of Unbiased Risk Estimators for Unsupervised Magnetic Resonance Image Denoising

The application of Deep Neural Networks (DNNs) to image denoising has notably challenged traditional denoising methods, particularly within complex noise scenarios prevalent in medical imaging. Despite the effectiveness of traditional and some DNN-based methods, their reliance on high-quality, noiseless ground truth images limits their practical utility. In response to this, our work introduces and benchmarks innovative unsupervised learning strategies, notably Stein's Unbiased Risk Estimator (SURE), its extension (eSURE), and our novel implementation, the Extended Poisson Unbiased Risk Estimator (ePURE), within medical imaging frameworks. This paper presents a comprehensive evaluation of these methods on MRI data afflicted with Gaussian and Poisson noise types, a scenario typical in medical imaging but challenging for most denoising algorithms. Our main contribution lies in the effective adaptation and implementation of the SURE, eSURE, and particularly the ePURE frameworks for medical images, showcasing their robustness and efficacy in environments where traditional noiseless ground truth cannot be obtained.