相关论文: From a Point Cloud to a Simulation Model: Bayesian…

Classically, Bayesian clustering interprets each component of a mixture model as a cluster. The inferred clustering posterior is highly sensitive to any inaccuracies in the kernel within each component. As this kernel is made more flexible,…

Popular industrial robotic problems such as spray painting and welding require (i) conditioning on free-shape 3D objects and (ii) planning of multiple trajectories to solve the task. Yet, existing solutions make strong assumptions on the…

Recently, combinations of generative and Bayesian machine learning have been introduced in particle physics for both fast detector simulation and inference tasks. These neural networks aim to quantify the uncertainty on the generated…

Generation of 3D data by deep neural network has been attracting increasing attention in the research community. The majority of extant works resort to regular representations such as volumetric grids or collection of images; however, these…

Semantic segmentation is an important and well-known task in the field of computer vision, in which we attempt to assign a corresponding semantic class to each input element. When it comes to semantic segmentation of 2D images, the input…

Mixture model-based frameworks are very popular for statistical inference in clustering. While convenient for producing probabilistic estimates of cluster assignments and uncertainty, they are prone to misspecification, which can lead to…

Panoptic segmentation is the combination of semantic and instance segmentation: assign the points in a 3D point cloud to semantic categories and partition them into distinct object instances. It has many obvious applications for outdoor…

A new Bayesian modelling framework is introduced for piece-wise homogeneous variable-memory Markov chains, along with a collection of effective algorithmic tools for change-point detection and segmentation of discrete time series. Building…

Aerial image segmentation is the basis for applications such as automatically creating maps or tracking deforestation. In true orthophotos, which are often used in these applications, many objects and regions can be approximated well by…

Conventional methods of 3D object generative modeling learn volumetric predictions using deep networks with 3D convolutional operations, which are direct analogies to classical 2D ones. However, these methods are computationally wasteful in…

This work introduces a new task of instance-incremental scene graph generation: Given a scene of the point cloud, representing it as a graph and automatically increasing novel instances. A graph denoting the object layout of the scene is…

Engineering simulations using boundary-value partial differential equations often implicitly assume that the uncertainty in the location of the boundary has a negligible impact on the output of the simulation. In this work, we develop a…

The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…

Bayesian Neural Networks (BNNs) offer a principled and natural framework for proper uncertainty quantification in the context of deep learning. They address the typical challenges associated with conventional deep learning methods, such as…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

This paper addresses the problem of unsupervised parts-aware point cloud generation with learned parts-based self-similarity. Our SPA-VAE infers a set of latent canonical candidate shapes for any given object, along with a set of rigid body…

The Intensive Care Unit (ICU) is a hospital department where machine learning has the potential to provide valuable assistance in clinical decision making. Classical machine learning models usually only provide point-estimates and no…

High quality upsampling of sparse 3D point clouds is critically useful for a wide range of geometric operations such as reconstruction, rendering, meshing, and analysis. In this paper, we propose a data-driven algorithm that enables an…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

Ground segmentation, as the basic task of unmanned intelligent perception, provides an important support for the target detection task. Unstructured road scenes represented by open-pit mines have irregular boundary lines and uneven road…