相关论文: Calib3D: Calibrating Model Preferences for Reliabl…

3D scene understanding plays a fundamental role in vision applications such as robotics, autonomous driving, and augmented reality. However, advancing learning-based 3D scene understanding remains challenging due to two key limitations: (1)…

Recent advances in large-scale pretraining have yielded visual foundation models with strong capabilities. Not only can recent models generalize to arbitrary images for their training task, their intermediate representations are useful for…

State-of-the-art lidar place recognition models exhibit unreliable performance when tested on environments different from their training dataset, which limits their use in complex and evolving environments. To address this issue, we…

Rigorous statistical methods, including parameter estimation with accompanying uncertainties, underpin the validity of scientific discovery, especially in the natural sciences. With increasingly complex data models such as deep learning…

A bathtub in a library, a sink in an office, a bed in a laundry room -- the counter-intuition suggests that scene provides important prior knowledge for 3D object detection, which instructs to eliminate the ambiguous detection of similar…

Camera calibration involves estimating camera parameters to infer geometric features from captured sequences, which is crucial for computer vision and robotics. However, conventional calibration is laborious and requires dedicated…

While deep learning methods have achieved impressive success in many vision benchmarks, it remains difficult to understand and explain the representations and decisions of these models. Though vision models are typically trained on 2D…

We address the important problem of generalizing robotic rearrangement to clutter without any explicit object models. We first generate over 650K cluttered scenes - orders of magnitude more than prior work - in diverse everyday…

In crowded urban environments where traffic is dense, current technologies struggle to oversee tight navigation, but surface-level understanding allows autonomous vehicles to safely assess proximity to surrounding obstacles. 3D or 2D scene…

This report surveys advances in deep learning-based modeling techniques that address four different 3D indoor scene analysis tasks, as well as synthesis of 3D indoor scenes. We describe different kinds of representations for indoor scenes,…

Accurate probabilistic predictions can be characterized by two properties -- calibration and sharpness. However, standard maximum likelihood training yields models that are poorly calibrated and thus inaccurate -- a 90% confidence interval…

While 3D object detection and pose estimation has been studied for a long time, its evaluation is not yet completely satisfactory. Indeed, existing datasets typically consist in numerous acquisitions of only a few scenes because of the…

In causal inference, sensitivity models assess how unmeasured confounders could alter causal analyses, but the sensitivity parameter -- which quantifies the degree of unmeasured confounding -- is often difficult to interpret. For this…

Confidence calibration -- the problem of predicting probability estimates representative of the true correctness likelihood -- is important for classification models in many applications. We discover that modern neural networks, unlike…

Scene classification, aiming at classifying a scene image to one of the predefined scene categories by comprehending the entire image, is a longstanding, fundamental and challenging problem in computer vision. The rise of large-scale…

In the rapidly evolving field of autonomous driving, precise segmentation of LiDAR data is crucial for understanding complex 3D environments. Traditional approaches often rely on disparate, standalone codebases, hindering unified…

Within the last few years, there has been a move towards using statistical models in conjunction with neural networks with the end goal of being able to better answer the question, "what do our models know?". From this trend, classical…

The problem of calibration from straight lines is fundamental in geometric computer vision, with well-established theoretical foundations. However, its practical applicability remains limited, particularly in real-world outdoor scenarios.…

Recent camera-based 3D object detection is limited by the precision of transforming from image to 3D feature spaces, as well as the accuracy of object localization within the 3D space. This paper aims to address such a fundamental problem…

Recent advances in self-supervised learning (SSL) for point clouds have substantially improved 3D scene understanding without human annotations. Existing approaches emphasize semantic awareness by enforcing feature consistency across…