相关论文: Autoregressive Uncertainty Modeling for 3D Boundin…

Geometric foundation models hold promise for unconstrained dense geometry prediction from uncalibrated images. However, in current feed-forward designs, their predicted confidence scores are heuristic, lack probabilistic interpretation, and…

Predicting how the world can evolve in the future is crucial for motion planning in autonomous systems. Classical methods are limited because they rely on costly human annotations in the form of semantic class labels, bounding boxes, and…

The inability of artificial neural networks to assess the uncertainty of their predictions is an impediment to their widespread use. We distinguish two types of learnable uncertainty: model uncertainty due to a lack of training data and…

Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…

We introduce a novel method for robust and accurate 3D object pose estimation from a single color image under large occlusions. Following recent approaches, we first predict the 2D projections of 3D points related to the target object and…

In the field of autonomous driving, a variety of sensor data types exist, each representing different modalities of the same scene. Therefore, it is feasible to utilize data from other sensors to facilitate image compression. However, few…

We propose a method for room layout estimation that does not rely on the typical box approximation or Manhattan world assumption. Instead, we reformulate the geometry inference problem as an instance detection task, which we solve by…

3D pose estimation from a single 2D image is an important and challenging task in computer vision with applications in autonomous driving, robot manipulation and augmented reality. Since 3D pose is a continuous quantity, a natural…

Pixel-wise clean annotation is necessary for fully-supervised semantic segmentation, which is laborious and expensive to obtain. In this paper, we propose a weakly supervised 2D semantic segmentation model by incorporating sparse bounding…

In this work, we propose a novel framework shape back-projection for computationally efficient point cloud processing in a probabilistic manner. The primary component of the technique is shape histogram and a back-projection procedure. The…

Goals for planning problems are typically conceived of as subsets of the state space. However, for many practical planning problems in robotics, we expect the robot to predict goals, e.g. from noisy sensors or by generalizing learned models…

We introduce CUPS, a novel method for learning sequence-to-sequence 3D human shapes and poses from RGB videos with uncertainty quantification. To improve on top of prior work, we develop a method to generate and score multiple hypotheses…

Subset selection-based methods are widely used to explain deep vision models: they attribute predictions by highlighting the most influential image regions and support object-level explanations. While these methods perform well in…

As deep neural networks are more commonly deployed in high-stakes domains, their black-box nature makes uncertainty quantification challenging. We investigate the presentation of conformal prediction sets--a distribution-free class of…

The current trend in object detection and localization is to learn predictions with high capacity deep neural networks trained on a very large amount of annotated data and using a high amount of processing power. In this work, we propose a…

3D object detection aims to predict object centers, dimensions, and rotations from LiDAR point clouds. Despite its simplicity, LiDAR captures only the near side of objects, making center-based detectors prone to poor localization accuracy…

Predictions and forecasts of machine learning models should take the form of probability distributions, aiming to increase the quantity of information communicated to end users. Although applications of probabilistic prediction and…

3D object-level mapping is a fundamental problem in robotics, which is especially challenging when object CAD models are unavailable during inference. In this work, we propose a framework that can reconstruct high-quality object-level maps…

In this paper, we tackle the challenging problem of 3D keypoint estimation of general objects using a novel implicit representation. Previous works have demonstrated promising results for keypoint prediction through direct coordinate…

Recently, deep generative models have been used for posterior inference in inverse problems, including high-stakes applications in medical imaging and scientific discovery, where the uncertainty of a prediction can matter as much as the…