相关论文: Towards Explaining Uncertainty Estimates in Point …

In this paper, we propose a way to model the resilience of the Iterative Closest Point (ICP) algorithm in the presence of corrupted measurements. In the context of autonomous vehicles, certifying the safety of the localization process poses…

Inductive Conformal Prediction (ICP) is a set of distribution-free and model agnostic algorithms devised to predict with a user-defined confidence with coverage guarantee. Instead of having point predictions, i.e., a real number in the case…

For the registration of partially overlapping point clouds, this paper proposes an effective approach based on both the hard and soft assignments. Given two initially posed clouds, it firstly establishes the forward correspondence for each…

Selecting powerful predictors for an outcome is a cornerstone task for machine learning. However, some types of questions can only be answered by identifying the predictors that causally affect the outcome. A recent approach to this causal…

We describe a variation of the iterative closest point (ICP) algorithm for aligning two point sets under a set of transformations. Our algorithm is superior to previous algorithms because (1) in determining the optimal alignment, it…

Category-level object pose and shape estimation from a single depth image has recently drawn research attention due to its potential utility for tasks such as robotics manipulation. The task is particularly challenging because the three…

The overarching goal of Explainable AI is to develop systems that not only exhibit intelligent behaviours, but also are able to explain their rationale and reveal insights. In explainable machine learning, methods that produce a high level…

We introduce a novel self-attention-based normal estimation network that is able to focus softly on relevant points and adjust the softness by learning a temperature parameter, making it able to work naturally and effectively within a large…

In this paper, we propose a novel probabilistic variant of iterative closest point (ICP) dubbed as CoBigICP. The method leverages both local geometrical information and global noise characteristics. Locally, the 3D structure of both target…

Implicit Neural Point Cloud (INPC) is a recent hybrid representation that combines the expressiveness of neural fields with the efficiency of point-based rendering, achieving state-of-the-art image quality in novel view synthesis. However,…

This short study presents an opportunistic approach to a (more) reliable validation method for prediction uncertainty average calibration. Considering that variance-based calibration metrics (ZMS, NLL, RCE...) are quite sensitive to the…

High-confidence overlap prediction and accurate correspondences are critical for cutting-edge models to align paired point clouds in a partial-to-partial manner. However, there inherently exists uncertainty between the overlapping and…

Inductive conformal predictors (ICPs) are algorithms that are able to generate prediction sets, instead of point predictions, which are valid at a user-defined confidence level, only assuming exchangeability. These algorithms are useful for…

The Iterative Closest Point (ICP) algorithm is one of the most widely used methods for point-set registration. However, being based on local iterative optimization, ICP is known to be susceptible to local minima. Its performance critically…

The emergence of tools based on artificial intelligence has also led to the need of producing explanations which are understandable by a human being. In most approaches, the system is considered a black box, making it difficult to generate…

One of the most popular methods of the machine learning prediction explanation is the SHapley Additive exPlanations method (SHAP). An imprecise SHAP as a modification of the original SHAP is proposed for cases when the class probability…

Pursuing invariant prediction from heterogeneous environments opens the door to learning causality in a purely data-driven way and has several applications in causal discovery and robust transfer learning. However, existing methods such as…

We propose a fast and simple explainable AI (XAI) method for point cloud data. It computes pointwise importance with respect to a trained network downstream task. This allows better understanding of the network properties, which is…

Rigid registration of multi-view and multi-platform LiDAR scans is a fundamental problem in 3D mapping, robotic navigation, and large-scale urban modeling applications. Data acquisition with LiDAR sensors involves scanning multiple areas…

This paper considers the problem of estimating the covariance of roto-translations computed by the Iterative Closest Point (ICP) algorithm. The problem is relevant for localization of mobile robots and vehicles equipped with depth-sensing…