3 papers
cs.RO2025
Human-Interpretable Uncertainty Explanations for Point Cloud Registration
Johannes A. Gaus, Loris Schneider, Yitian Shi +3
In this paper, we address the point cloud registration problem, where well-known methods like ICP fail under uncertainty arising from sensor noise, pose-estimation errors, and part…
cs.RO2025
CLEVER: Stream-based Active Learning for Robust Semantic Perception from Human Instructions
Jongseok Lee, Timo Birr, Rudolph Triebel +1
We propose CLEVER, an active learning system for robust semantic perception with Deep Neural Networks (DNNs). For data arriving in streams, our system seeks human support when enco…
cs.RO2024
Towards Explaining Uncertainty Estimates in Point Cloud Registration
Ziyuan Qin, Jongseok Lee, Rudolph Triebel
Iterative Closest Point (ICP) is a commonly used algorithm to estimate transformation between two point clouds. The key idea of this work is to leverage recent advances in explaina…