8 papers
Visual General Intelligence: A White Paper
Hirokatsu Kataoka, Yoshihiro Fukuhara, Yonglong Tian +18
This paper reconsiders intelligence from a vision-centered perspective and examines whether intelligence emerging from visual experience and learning may provide a pathway toward A…
DANCeRS: A Distributed Algorithm for Negotiating Consensus in Robot Swarms with Gaussian Belief Propagation
Aalok Patwardhan, Andrew J. Davison
Robot swarms require cohesive collective behaviour to address diverse challenges, including shape formation and decision-making. Existing approaches often treat consensus in discre…
4DTAM: Non-Rigid Tracking and Mapping via Dynamic Surface Gaussians
Hidenobu Matsuki, Gwangbin Bae, Andrew J. Davison
We propose the first 4D tracking and mapping method that jointly performs camera localization and non-rigid surface reconstruction via differentiable rendering. Our approach captur…
U-ARE-ME: Uncertainty-Aware Rotation Estimation in Manhattan Environments
Aalok Patwardhan, Callum Rhodes, Gwangbin Bae +1
Camera rotation estimation from a single image is a challenging task, often requiring depth data and/or camera intrinsics, which are generally not available for in-the-wild videos.…
Rethinking Inductive Biases for Surface Normal Estimation
Gwangbin Bae, Andrew J. Davison
Despite the growing demand for accurate surface normal estimation models, existing methods use general-purpose dense prediction models, adopting the same inductive biases as other…
SuperPrimitive: Scene Reconstruction at a Primitive Level
Kirill Mazur, Gwangbin Bae, Andrew J. Davison
Joint camera pose and dense geometry estimation from a set of images or a monocular video remains a challenging problem due to its computational complexity and inherent visual ambi…
Learning in Deep Factor Graphs with Gaussian Belief Propagation
Seth Nabarro, Mark van der Wilk, Andrew J Davison
We propose an approach to do learning in Gaussian factor graphs. We treat all relevant quantities (inputs, outputs, parameters, latents) as random variables in a graphical model, a…
A Distributed Multi-Robot Framework for Exploration, Information Acquisition and Consensus
Aalok Patwardhan, Andrew J. Davison
The distributed coordination of robot teams performing complex tasks is challenging to formulate. The different aspects of a complete task such as local planning for obstacle avoid…