相关论文: U-ARE-ME: Uncertainty-Aware Rotation Estimation in…

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…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

Accurate image registration is essential in many medical imaging applications, yet most deep registration networks provide little indication of when or where their predictions are unreliable. Existing uncertainty estimation approaches, such…

Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for…

Inverse problems play a key role in modern image/signal processing methods. However, since they are generally ill-conditioned or ill-posed due to lack of observations, their solutions may have significant intrinsic uncertainty. Analysing…

Markerless human motion capture (mocap) from multiple RGB cameras is a widely studied problem. Existing methods either need calibrated cameras or calibrate them relative to a static camera, which acts as the reference frame for the mocap…

This paper proposes a unified mathematical framework for inertial measurement unit (IMU) preintegration in inertial-aided navigation system in different frames under different motion condition. The navigation state is precisely discretized…

In this paper, we investigate visual-based camera re-localization with neural networks for robotics and autonomous vehicles applications. Our solution is a CNN-based algorithm which predicts camera pose (3D translation and 3D rotation)…

Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under…

Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…

Estimating camera motion from monocular video is a fundamental problem in computer vision, central to tasks such as SLAM, visual odometry, and structure-from-motion. Existing methods that recover the camera's heading under known rotation,…

Uncertainty estimation is important for interpreting the trustworthiness of machine learning models in many applications. This is especially critical in the data-driven active learning setting where the goal is to achieve a certain accuracy…

Accurate reconstruction of the environment is a central goal of Simultaneous Localization and Mapping (SLAM) systems. However, the agent's trajectory can significantly affect estimation accuracy. This paper presents a new method to model…

The miniaturization of inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. Orientation estimation is a prerequisite for most further data processing steps in inertial motion…

Neural surface reconstruction methods typically treat camera poses as fixed values, assuming perfect accuracy from Structure-from-Motion (SfM) systems. This assumption breaks down with imperfect pose estimates, leading to distorted or…

Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without waiting for future refinements. While traditional visual SLAM…

Reward models (RMs) are essential for aligning large language models (LLM) with human expectations. However, existing RMs struggle to capture the stochastic and uncertain nature of human preferences and fail to assess the reliability of…

Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…

Estimating the precise timing of batting impact is crucial for understanding the rapid sensorimotor control. However, this task is challenging for RGB cameras due to insufficient temporal resolution and motion blur. Similarly, Inertial…

We present an online and data-driven uncertainty quantification method to enable the development of safe human-robot collaboration applications. Safety and risk assessment of systems are strongly correlated with the accuracy of…