4 papers
Flow Matching with Uncertainty Quantification and Guidance
Juyeop Han, Lukas Lao Beyer, Sertac Karaman
Despite the remarkable success of sampling-based generative models such as flow matching, they can still produce samples of inconsistent or degraded quality. To assess sample relia…
Construction of Digital Terrain Maps from Multi-view Satellite Imagery using Neural Volume Rendering
Josef X. Biberstein, Guilherme Cavalheiro, Juyeop Han +1
Digital terrain maps (DTMs) are an important part of planetary exploration, enabling operations such as terrain relative navigation during entry, descent, and landing for spacecraf…
SCREP: Scene Coordinate Regression and Evidential Learning-based Perception-Aware Trajectory Generation
Juyeop Han, Lukas Lao Beyer, Guilherme V. Cavalheiro +1
Autonomous flight in GPS-denied indoor spaces requires trajectories that keep visual-localization error tightly bounded across varied missions. Map-based visual localization method…
NVINS: Robust Visual Inertial Navigation Fused with NeRF-augmented Camera Pose Regressor and Uncertainty Quantification
Juyeop Han, Lukas Lao Beyer, Guilherme V. Cavalheiro +1
In recent years, Neural Radiance Fields (NeRF) have emerged as a powerful tool for 3D reconstruction and novel view synthesis. However, the computational cost of NeRF rendering and…