相关论文: Stein ICP for Uncertainty Estimation in Point Clou…

Pre-trained point cloud analysis models have shown promising advancements in various downstream tasks, yet their effectiveness is typically suffering from low-quality point cloud (i.e., noise and incompleteness), which is a common issue in…

Reliable uncertainty quantification is crucial for the trustworthiness of machine learning applications. Inductive Conformal Prediction (ICP) offers a distribution-free framework for generating prediction sets or intervals with…

Distribution-to-Distribution (D2D) point cloud registration algorithms are fast, interpretable, and perform well in unstructured environments. Unfortunately, existing strategies for predicting solution error for these methods are overly…

Robust robotic autonomy remains challenging in complex environments, where loss of stability on uneven or slippery terrain can induce extreme accelerations and angular velocities. Such motions corrupt sensor measurements and degrade state…

This research leverages Conformal Prediction (CP) in the form of Conformal Predictive Systems (CPS) to accurately estimate uncertainty in a suite of machine learning (ML)-based radio metric models [1] as well as in a 2-D map-based ML path…

We consider the robust Perspective-n-Point (PnP) problem using a hybrid approach that combines deep learning with model based algorithms. PnP is the problem of estimating the pose of a calibrated camera given a set of 3D points in the world…

3D point cloud is an efficient and flexible representation of 3D structures. Recently, neural networks operating on point clouds have shown superior performance on 3D understanding tasks such as shape classification and part segmentation.…

In robotics perception, numerous tasks rely on point cloud registration. However, currently there is no method that can automatically detect misaligned point clouds reliably and without environment-specific parameters. We propose "CorAl",…

This paper presents a novel semantic-based online extrinsic calibration approach, SOIC (so, I see), for Light Detection and Ranging (LiDAR) and camera sensors. Previous online calibration methods usually need prior knowledge of rough…

We propose DeepMapping, a novel registration framework using deep neural networks (DNNs) as auxiliary functions to align multiple point clouds from scratch to a globally consistent frame. We use DNNs to model the highly non-convex mapping…

This paper explores optimal methods for obtaining one-dimensional (1D) powder pattern intensities from two-dimensional (2D) planar detectors with good estimates of their standard deviations. We describe methods to estimate uncertainties…

In machine learning, accurately predicting the probability that a specific input is correct is crucial for risk management. This process, known as uncertainty (or confidence) estimation, is particularly important in mission-critical…

Uncertainty quantification of the photogrammetry process is essential for providing per-point accuracy credentials of the point clouds. Unlike airborne LiDAR, whose accuracy generally remains consistent with objects with varying geometric…

Accurate camera calibration is a precondition for many computer vision applications. Calibration errors, such as wrong model assumptions or imprecise parameter estimation, can deteriorate a system's overall performance, making the reliable…

Relative pose estimation is fundamental for SLAM, visual localization, and 3D reconstruction. Existing Relative Pose Regression (RPR) methods face a key trade-off: feature-matching pipelines achieve high accuracy but block gradient flow via…

We introduce Deep Set Linearized Optimal Transport, an algorithm designed for the efficient simultaneous embedding of point clouds into an $L^2-$space. This embedding preserves specific low-dimensional structures within the Wasserstein…

Image-to-point cloud registration aims to determine the relative camera pose between an RGB image and a reference point cloud, serving as a general solution for locating 3D objects from 2D observations. Matching individual points with…

We present an iterative overlap estimation technique to augment existing point cloud registration algorithms that can achieve high performance in difficult real-world situations where large pose displacement and non-overlapping geometry…

We present a detailed description of the idea and procedure for the newly proposed Monte Carlo algorithm of tuning the critical point automatically, which is called the probability-changing cluster (PCC) algorithm [Y. Tomita and Y. Okabe,…

The common occurrence of occlusion-induced incompleteness in point clouds has made point cloud completion (PCC) a highly-concerned task in the field of geometric processing. Existing PCC methods typically produce complete point clouds from…