相关论文: Volumetric Calculation of Quantization Error in 3-…

This paper presents a novel end-to-end framework for closed-form computation and visualization of critical point uncertainty in 2D uncertain scalar fields. Critical points are fundamental topological descriptors used in the visualization…

Visual localization techniques rely upon some underlying scene representation to localize against. These representations can be explicit such as 3D SFM map or implicit, such as a neural network that learns to encode the scene. The former…

We present a multimodal camera relocalization framework that captures ambiguities and uncertainties with continuous mixture models defined on the manifold of camera poses. In highly ambiguous environments, which can easily arise due to…

Estimating uncertainty in image-to-image networks is an important task, particularly as such networks are being increasingly deployed in the biological and medical imaging realms. In this paper, we introduce a new approach to this problem…

In this paper, we propose a novel method for monocular depth estimation in dynamic scenes. We first explore the arbitrariness of object's movement trajectory in dynamic scenes theoretically. To overcome the arbitrariness, we use assume that…

Removing clutter from scenes is essential in many applications, ranging from privacy-concerned content filtering to data augmentation. In this work, we present an automatic system that removes clutter from 3D scenes and inpaints with…

3D Gaussian Splatting (3DGS) has become increasingly popular in 3D scene reconstruction for its high visual accuracy. However, uncertainty estimation of 3DGS scenes remains underexplored and is crucial to downstream tasks such as asset…

Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…

We aim to recover the geometry of 3D parametric scenes using very few depth measurements from low-cost, commercially available time-of-flight sensors. These sensors offer very low spatial resolution (i.e., a single pixel), but image a wide…

In the literature, points and conics have been major features for camera geometric calibration. Although conics are more informative features than points, the loss of the conic property under distortion has critically limited the utility of…

Image registration is a classical problem in machine vision which seeks methods to align discrete images of the same scene to subpixel accuracy in general situations. As with all estimation problems, the underlying difficulty is the partial…

We present a deep learning solution for estimating the incident illumination at any 3D location within a scene from an input narrow-baseline stereo image pair. Previous approaches for predicting global illumination from images either…

We examine the problem of estimating footprint uncertainty of objects imaged using the infrastructure based camera sensing. A closed form relationship is established between the ground coordinates and the sources of the camera errors. Using…

Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…

3D object detection is one of the most important tasks for the perception systems of autonomous vehicles. With the significant success in the field of 2D object detection, several monocular image based 3D object detection algorithms have…

Numerous studies have investigated the pivotal role of reliable 3D volume representation in scene perception tasks, such as multi-view stereo (MVS) and semantic scene completion (SSC). They typically construct 3D probability volumes…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

Each year, numerous segmentation and classification algorithms are invented or reused to solve problems where machine vision is needed. Generally, the efficiency of these algorithms is compared against the results given by one or many human…

Research in neural networks in the field of computer vision has achieved remarkable accuracy for point estimation. However, the uncertainty in the estimation is rarely addressed. Uncertainty quantification accompanied by point estimation…

The ability to construct concise scene representations from sensor input is central to the field of robotics. This paper addresses the problem of robustly creating a 3D representation of a tabletop scene from a segmented RGB-D image. These…