6 papers
Rubix: Global Correspondence-Free Point Set Alignment through Assignment Geometry
Subhransu S. Bhattacharjee, Dylan Campbell, Rahul Shome
Procrustes-Wasserstein alignment jointly estimates a matching and rotation without supplied correspondences, but alternating minimization can stop at suboptimal solutions. Rubix so…
The cost of useful natural gradient updates
Subhransu S. Bhattacharjee, Dylan Campbell, Rahul Shome
What information is needed to turn a natural-gradient direction into a useful finite update? Under a population Kullback-Leibler (KL) budget, we call a step useful if it is feasibl…
FlatLands: Generative Floormap Completion From a Single Egocentric View
Subhransu S. Bhattacharjee, Dylan Campbell, Rahul Shome
A single egocentric image typically captures only a small portion of the floor, yet a complete metric traversability map of the surroundings would better serve applications such as…
MatterDoor: Sampling Zero-shot Spatio-semantic Priors using Generative Models
Subhransu S. Bhattacharjee, Hao Lu, Dylan Campbell +1
Autonomous robots often view rooms only partially, through a doorway, where the walls and scene structure hide the geometry and task-relevant semantics needed for safe navigation a…
Extreme Amodal Face Detection
Changlin Song, Yunzhong Hou, Michael Randall Barnes +2
Extreme amodal detection is the task of inferring the 2D location of objects that are not fully visible in the input image but are visible within an expanded field-of-view. This di…
Believing is Seeing: Unobserved Object Detection using Generative Models
Subhransu S. Bhattacharjee, Dylan Campbell, Rahul Shome
Can objects that are not visible in an image -- but are in the vicinity of the camera -- be detected? This study introduces the novel tasks of 2D, 2.5D and 3D unobserved object det…