Related papers: Estimating Motion Uncertainty with Bayesian ICP

Pose prediction is to predict future poses given a window of previous poses. In this paper, we propose a new problem that predicts poses using 3D joint coordinate sequences. Different from the traditional pose prediction based on Mocap…

We propose Bayesian Conformal Prediction (BCP), a framework that combines Bayesian posterior predictive distributions with PAC-style conformal risk control to produce prediction sets with finite-sample coverage guarantees. Standard…

This work proposes a process for efficiently searching over combinations of individual object 6D pose hypotheses in cluttered scenes, especially in cases involving occlusions and objects resting on each other. The initial set of candidate…

Image-based localization is a core component of many augmented/mixed reality (AR/MR) and autonomous robotic systems. Current localization systems rely on the persistent storage of 3D point clouds of the scene to enable camera pose…

This paper develops a novel sequential Monte Carlo (SMC) approach for joint state and parameter estimation that can deal efficiently with abruptly changing parameters which is a common case when tracking maneuvering targets. The approach…

In this article we consider Bayesian estimation of static parameters for a class of partially observed McKean-Vlasov diffusion processes with discrete-time observations over a fixed time interval. This problem features several obstacles to…

Bayesian inference for doubly-intractable pairwise exponential graphical models typically involves variations of the exchange algorithm or approximate Markov chain Monte Carlo (MCMC) samplers. However, existing methods for both classes of…

Scene flow characterizes the 3D motion between two LiDAR scans captured by an autonomous vehicle at nearby timesteps. Prevalent methods consider scene flow as point-wise unconstrained flow vectors that can be learned by either large-scale…

Atmospheric motion vectors (AMVs) extracted from satellite imagery are the only wind observations with good global coverage. They are important features for feeding numerical weather prediction (NWP) models. Several Bayesian models have…

Finite element model updating is challenging because 1) the problem is oftentimes underdetermined while the measurements are limited and/or incomplete; 2) many combinations of parameters may yield responses that are similar with respect to…

Shape completion networks have been used recently in real-world robotic experiments to complete the missing/hidden information in environments where objects are only observed in one or few instances where self-occlusions are bound to occur.…

We present a novel differentiable weighted generalized iterative closest point (WGICP) method applicable to general 3D point cloud data, including that from Lidar. Our method builds on differentiable generalized ICP (GICP), and we propose…

We propose a multilevel Markov chain Monte Carlo (MCMC) method for the Bayesian inference of random field parameters in PDEs using high-resolution data. Compared to existing multilevel MCMC methods, we additionally consider level-dependent…

Uncertainty of decisions in safety-critical engineering applications can be estimated on the basis of the Bayesian Markov Chain Monte Carlo (MCMC) technique of averaging over decision models. The use of decision tree (DT) models assists…

Deep learning models are extensively used in various safety critical applications. Hence these models along with being accurate need to be highly reliable. One way of achieving this is by quantifying uncertainty. Bayesian methods for UQ…

LiDAR-based 3D sensors provide point clouds, a canonical 3D representation used in various scene understanding tasks. Modern LiDARs face key challenges in several real-world scenarios, such as long-distance or low-albedo objects, producing…

The Bayesian inversion method demonstrates significant potential for solving inverse problems, enabling both point estimation and uncertainty quantification (UQ). However, Bayesian maximum a posteriori (MAP) estimation may become unstable…

In this paper, we address the point cloud registration problem, where well-known methods like ICP fail under uncertainty arising from sensor noise, pose-estimation errors, and partial overlap due to occlusion. We develop a novel approach,…

The Iterative Closest Point (ICP) algorithm is one of the most important algorithms for geometric alignment of three-dimensional surface registration, which is frequently used in computer vision tasks, including the Simultaneous…

A comparative study of different block matching alternatives for motion estimation is presented. The study is focused on computational burden and objective measures on the accuracy of prediction. Together with existing algorithms several…