相关论文: Uncertainty Estimation in Deep Neural Networks for…

A generative model for high-fidelity point clouds is of great importance in synthesizing 3d environments for applications such as autonomous driving and robotics. Despite the recent success of deep generative models for 2d images, it is…

Normal estimation on 3D point clouds is a fundamental problem in 3D vision and graphics. Current methods often show limited accuracy in predicting normals at sharp features (e.g., edges and corners) and less robustness to noise. In this…

Motivated by the problem of computer-aided detection (CAD) of pulmonary nodules, we introduce methods to propagate and fuse uncertainty information in a multi-stage Bayesian convolutional neural network (CNN) architecture. The question we…

Point cloud completion is the task of predicting complete geometry from partial observations using a point set representation for a 3D shape. Previous approaches propose neural networks to directly estimate the whole point cloud through…

Bayesian neural Networks (BNNs) are a promising method of obtaining statistical uncertainties for neural network predictions but with a higher computational overhead which can limit their practical usage. This work explores the use of high…

Point cloud segmentation is one of the most important tasks in computer vision with widespread scientific, industrial, and commercial applications. The research thereof has resulted in many breakthroughs in 3D object and scene…

Deep-learning-based data-driven forecasting methods have produced impressive results for traffic forecasting. A major limitation of these methods, however, is that they provide forecasts without estimates of uncertainty, which are critical…

Adapting robot programmes to changes in the environment is a well-known industry problem, and it is the reason why many tedious tasks are not automated in small and medium-sized enterprises (SMEs). A semantic world model of a robot's…

Semantic segmentation of 3D point clouds is a challenging problem with numerous real-world applications. While deep learning has revolutionized the field of image semantic segmentation, its impact on point cloud data has been limited so…

Bayesian neural networks (BNNs) have recently regained a significant amount of attention in the deep learning community due to the development of scalable approximate Bayesian inference techniques. There are several advantages of using…

This work studies Semantic Scene Completion which aims to predict a 3D semantic segmentation of our surroundings, even though some areas are occluded. For this we construct a Bayesian Convolutional Neural Network (BCNN), which is not only…

Precise estimation of uncertainty in predictions for AI systems is a critical factor in ensuring trust and safety. Deep neural networks trained with a conventional method are prone to over-confident predictions. In contrast to Bayesian…

Recent developments in the 3D scanning technologies have made the generation of highly accurate 3D point clouds relatively easy but the segmentation of these point clouds remains a challenging area. A number of techniques have set precedent…

3D point cloud completion, the task of inferring the complete geometric shape from a partial point cloud, has been attracting attention in the community. For acquiring high-fidelity dense point clouds and avoiding uneven distribution,…

Robotic branch pruning is a significantly growing research area to cope with the shortage of labor force in the context of agriculture. One fundamental requirement in robotic pruning is the perception of detailed geometry and topology of…

In the event of a nuclear accident, or the detonation of a radiological dispersal device, quickly locating the source of the accident or blast is important for emergency response and environmental decontamination. At a specified time after…

The application of deep learning to 3D point clouds is challenging due to its lack of order. Inspired by the point embeddings of PointNet and the edge embeddings of DGCNNs, we propose three improvements to the task of point cloud analysis.…

We propose a simple method that combines neural networks and Gaussian processes. The proposed method can estimate the uncertainty of outputs and flexibly adjust target functions where training data exist, which are advantages of Gaussian…

While deep learning-based methods have demonstrated outstanding results in numerous domains, some important functionalities are missing. Resolution scalability is one of them. In this work, we introduce a novel architecture, dubbed…

Effective quantification of uncertainty is an essential and still missing step towards a greater adoption of deep-learning approaches in different applications, including mission-critical ones. In particular, investigations on the…