相关论文: PNeRF: Probabilistic Neural Scene Representations …

This paper presents a framework that combines traditional keypoint-based camera pose optimization with an invertible neural rendering mechanism. Our proposed 3D scene representation, Nerfels, is locally dense yet globally sparse. As opposed…

Neural networks predictions are unreliable when the input sample is out of the training distribution or corrupted by noise. Being able to detect such failures automatically is fundamental to integrate deep learning algorithms into robotics.…

This paper presents a stylized novel view synthesis method. Applying state-of-the-art stylization methods to novel views frame by frame often causes jittering artifacts due to the lack of cross-view consistency. Therefore, this paper…

We present a method to map 2D image observations of a scene to a persistent 3D scene representation, enabling novel view synthesis and disentangled representation of the movable and immovable components of the scene. Motivated by the…

We present a novel neural surface reconstruction method called NeuralRoom for reconstructing room-sized indoor scenes directly from a set of 2D images. Recently, implicit neural representations have become a promising way to reconstruct…

Neural radiance fields (NeRFs) have emerged as an effective method for novel-view synthesis and 3D scene reconstruction. However, conventional training methods require access to all training views during scene optimization. This assumption…

Modelling individual objects in a scene as Neural Radiance Fields (NeRFs) provides an alternative geometric scene representation that may benefit downstream robotics tasks such as scene understanding and object manipulation. However, we…

Neural radiance fields (NeRFs) have achieved impressive view synthesis results by learning an implicit volumetric representation from multi-view images. To project the implicit representation into an image, NeRF employs volume rendering…

Perspective-n-Point-and-Line (P$n$PL) algorithms aim at fast, accurate, and robust camera localization with respect to a 3D model from 2D-3D feature correspondences, being a major part of modern robotic and AR/VR systems. Current…

Deep learning methods for unsupervised registration often rely on objectives that assume a uniform noise level across the spatial domain (e.g. mean-squared error loss), but noise distributions are often heteroscedastic and input-dependent…

3D scenes photorealistic stylization aims to generate photorealistic images from arbitrary novel views according to a given style image while ensuring consistency when rendering from different viewpoints. Some existing stylization methods…

Scene recognition, particularly for aerial and underwater images, often suffers from various types of degradation, such as blurring or overexposure. Previous works that focus on convolutional neural networks have been shown to be able to…

Deep learning (DL) has shown great potential in medical image enhancement problems, such as super-resolution or image synthesis. However, to date, little consideration has been given to uncertainty quantification over the output image. Here…

Uncertainty quantification is a key pillar of trustworthy machine learning. It enables safe reactions under unsafe inputs, like predicting only when the machine learning model detects sufficient evidence, discarding anomalous data, or…

Estimating neural radiance fields (NeRFs) from "ideal" images has been extensively studied in the computer vision community. Most approaches assume optimal illumination and slow camera motion. These assumptions are often violated in robotic…

Recent advances in neural rendering have shown that, albeit slow, implicit compact models can learn a scene's geometries and view-dependent appearances from multiple views. To maintain such a small memory footprint but achieve faster…

We propose a framework for learning neural scene representations directly from images, without 3D supervision. Our key insight is that 3D structure can be imposed by ensuring that the learned representation transforms like a real 3D scene.…

Most machine learning techniques are based upon statistical learning theory, often simplified for the sake of computing speed. This paper is focused on the uncertainty aspect of mathematical modeling in machine learning. Regression analysis…

The comprehensive integration of machine learning healthcare models within clinical practice remains suboptimal, notwithstanding the proliferation of high-performing solutions reported in the literature. A predominant factor hindering…

With the rise of deep learning algorithms nowadays, scene image representation methods have achieved a significant performance boost in classification. However, the performance is still limited because the scene images are mostly complex…