Arrow Research search

Author name cluster

Susanna Ricco

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

3 papers
2 author rows

Possible papers

3

NeurIPS Conference 2023 Conference Paper

Consensus and Subjectivity of Skin Tone Annotation for ML Fairness

  • Candice Schumann
  • Femi Olanubi
  • Auriel Wright
  • Ellis Monk
  • Courtney Heldreth
  • Susanna Ricco

Understanding different human attributes and how they affect model behavior may become a standard need for all model creation and usage, from traditional computer vision tasks to the newest multimodal generative AI systems. In computer vision specifically, we have relied on datasets augmented with perceived attribute signals (eg, gender presentation, skin tone, and age) and benchmarks enabled by these datasets. Typically labels for these tasks come from human annotators. However, annotating attribute signals, especially skin tone, is a difficult and subjective task. Perceived skin tone is affected by technical factors, like lighting conditions, and social factors that shape an annotator's lived experience. This paper examines the subjectivity of skin tone annotation through a series of annotation experiments using the Monk Skin Tone (MST) scale~\cite{Monk2022Monk}, a small pool of professional photographers, and a much larger pool of trained crowdsourced annotators. Along with this study we release the Monk Skin Tone Examples (MST-E) dataset, containing 1515 images and 31 videos spread across the full MST scale. MST-E is designed to help train human annotators to annotate MST effectively. Our study shows that annotators can reliably annotate skin tone in a way that aligns with an expert in the MST scale, even under challenging environmental conditions. We also find evidence that annotators from different geographic regions rely on different mental models of MST categories resulting in annotations that systematically vary across regions. Given this, we advise practitioners to use a diverse set of annotators and a higher replication count for each image when annotating skin tone for fairness research.

ICRA Conference 2011 Conference Paper

Textured occupancy grids for monocular localization without features

  • Julian Mason
  • Susanna Ricco
  • Ronald Parr

A textured occupancy grid map is an extremely versatile data structure. It can be used to render human readable views and for laser rangefinder localization algorithms. For camera-based localization, landmark or feature based maps tend to be favored in current research. This may be because of a tacit assumption that working with a textured occupancy grid with a camera would be impractical. We demonstrate that a textured occupancy grid can be combined with an extremely simple monocular localization algorithm to produce a viable localization solution. Our approach is simple, efficient, and produces localization results comparable to laser localization results. A consequence of this result is that a single map representation, the textured occupancy grid, can now be used for humans, robots with laser rangefinders, and robots with just a single camera.

AAAI Conference 2005 Conference Paper

Scavenging with a Laptop Robot

  • Alan Davidson
  • Susanna Ricco

This synopsis presents Harvey Mudd College’s entry into the 2005 AAAI scavenger hunt competition. We are submiting a laptop-controlled robot which uses commodity parts and limited sensors to localize itself and perform arrow following and object recognition.

v2026.09.13