2 citations · 2 across the 5 of their papers we have counts for
6 papers
VCURF: Virtual Camera-based Uncertainty of Radiance Fields
Liyan Chen, Nathaniel Burgdorfer, Philippos Mordohai
Radiance fields, implemented with either implicit (NeRF) or explicit (Gaussian Splatting) representations, are advancing the state of the art in novel view synthesis at a rapid pac…
Is Image-based Object Pose Estimation Ready to Support Grasping?
Eric C. Joyce, Qianwen Zhao, Nathaniel Burgdorfer +2
We present a framework for evaluating 6-DoF instance-level object pose estimators, focusing on those that require a single RGB (not RGB-D) image as input. Besides gaining intuition…
Consensus-Driven Uncertainty for Robotic Grasping based on RGB Perception
Eric C. Joyce, Qianwen Zhao, Nathaniel Burgdorfer +2
Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate c…
Radiant Triangle Soup with Soft Connectivity Forces for 3D Reconstruction and Novel View Synthesis
Nathaniel Burgdorfer, Philippos Mordohai
We introduce an inference-time scene optimization algorithm utilizing triangle soup, a collection of disconnected translucent triangle primitives, as the representation for the geo…
V-FUSE: Volumetric Depth Map Fusion with Long-Range Constraints
Nathaniel Burgdorfer, Philippos Mordohai
We introduce a learning-based depth map fusion framework that accepts a set of depth and confidence maps generated by a Multi-View Stereo (MVS) algorithm as input and improves them…
Real-Time Dense 3D Mapping of Underwater Environments
Weihan Wang, Bharat Joshi, Nathaniel Burgdorfer +4
This paper addresses real-time dense 3D reconstruction for a resource-constrained Autonomous Underwater Vehicle (AUV). Underwater vision-guided operations are among the most challe…