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<i><b> Visual Odometry on KITTI. </b> Input image (top left), color-coded dense covariances (bottom left) and resulting trajectory (right). Color coding of the covariances is given by hue (size), orientation (color), and saturation (anisotropy). First sequence uses our supervised covariances, second sequence uses our unsupervised covariances.</i>
<!-- a) We propose a symetric extension of the <a href="https://arxiv.org/abs/2204.02256" target="_blank">Probabiltistic Normal Epipolar Constraint</a>() (PNEC) to more accurately model the geometry of relative pose estimation with uncertain feature positions.
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b) We propose a learning strategy to minimize the relative pose error by learning feature position uncertainty through differentiable nonlinear least squares (DNLS). This learning strategy can be combined with any feature extraction algorithm. We evaluate our learning framework with synthetic experiments and on real-world data in a visual odometry setting. We show that our framework is able to generalize to different feature extraction algorithms such as SuperPoint and feature tracking approaches. -->
<!-- Probabilistic 3D human motion prediction aims to forecast multiple possible future movements from past observations. While current approaches often generate motions with undetected limb stretching and jitter. We introduce SkeletonDiffusion, a latent diffusion model that embeds an explicit inductive bias on the human body within its architecture and training. Our model is trained with a novel nonisotropic Gaussian diffusion formulation outperforming conventional isotropic alternatives. SkeletonDiffusion sets a new benchmark across multiple evaluation metrics and datasets. -->
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