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How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

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…

We introduce CUPS, a novel method for learning sequence-to-sequence 3D human shapes and poses from RGB videos with uncertainty quantification. To improve on top of prior work, we develop a method to generate and score multiple hypotheses…

Inductive Conformal Prediction (ICP) is a set of distribution-free and model agnostic algorithms devised to predict with a user-defined confidence with coverage guarantee. Instead of having point predictions, i.e., a real number in the case…

In this work, we investigate the problem of measuring a the centre checkerboard target in an 3D point cloud. This is an important problem which has applications in registration, long term monitoring and linking to other sensor systems. We…

Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower surveys provide geometric coverage guarantees but can waste…

Point cloud registration is a popular topic which has been widely used in 3D model reconstruction, location, and retrieval. In this paper, we propose a new registration method, KSS-ICP, to address the rigid registration task in Kendall…

Object pose estimation is crucial to robotic perception and typically provides a single-pose estimate. However, a single estimate cannot capture pose uncertainty deriving from visual ambiguity, which can lead to unreliable behavior.…

We introduce a novel self-attention-based normal estimation network that is able to focus softly on relevant points and adjust the softness by learning a temperature parameter, making it able to work naturally and effectively within a large…

In this paper, we present Point Cloud Color Constancy, in short PCCC, an illumination chromaticity estimation algorithm exploiting a point cloud. We leverage the depth information captured by the time-of-flight (ToF) sensor mounted rigidly…

In air-ground collaboration scenarios without GPS and prior maps, the relative positioning of drones and unmanned ground vehicles (UGVs) has always been a challenge. For a drone equipped with monocular camera and an UGV equipped with LiDAR…

Identifying changes in a pair of 3D aerial LiDAR point clouds, obtained during two distinct time periods over the same geographic region presents a significant challenge due to the disparities in spatial coverage and the presence of noise…

Correspondence search is an essential step in rigid point cloud registration algorithms. Most methods maintain a single correspondence at each step and gradually remove wrong correspondances. However, building one-to-one correspondence with…

In the Canadian's lumber industry, simulators are used to predict the lumbers resulting from the sawing of a log at a given sawmill. Giving a log or several logs' 3D scans as input, simulators perform a real-time job to predict the lumbers.…

We study computing geometric problems on uncertain points. An uncertain point is a point that does not have a fixed location, but rather is described by a probability distribution. When these probability distributions are restricted to a…

This paper presents DeepI2P: a novel approach for cross-modality registration between an image and a point cloud. Given an image (e.g. from a rgb-camera) and a general point cloud (e.g. from a 3D Lidar scanner) captured at different…

Dense prediction tasks are common for 3D point clouds, but the uncertainties inherent in massive points and their embeddings have long been ignored. In this work, we present CUE, a novel uncertainty estimation method for dense prediction…

Depth estimation is an important step in many computer vision problems such as 3D reconstruction, novel view synthesis, and computational photography. Most existing work focuses on depth estimation from single frames. When applied to…

3D pose estimation is a challenging problem in computer vision. Most of the existing neural-network-based approaches address color or depth images through convolution networks (CNNs). In this paper, we study the task of 3D human pose…

Many motion planning algorithms for automated driving require estimating the probability of collision (POC) to account for uncertainties in the measurement and estimation of the motion of road users. Common POC estimation techniques often…