Nicolás Dalmassó

Jean Pierre Richa, Jean-Emmanuel Deschaud, François Goulette et al.

Scene Completion is the task of completing missing geometry from a partial scan of a scene. Most previous methods compute an implicit representation from range data using a Truncated Signed Distance Function (T-SDF) computed on a 3D grid as input to neural networks. The truncation decreases but does not remove the border errors introduced by the sign of SDF for open surfaces. As an alternative, we present an Unsigned Distance Function (UDF) as an input representation to scene completion neural networks. The proposed UDF is simple, and efficient as a geometry representation, and can be computed on any point cloud. In contrast to usual Signed Distance Functions, our UDF does not require normal computation. To obtain the explicit geometry, we present a method for extracting a point cloud from discretized UDF values on a sparse grid. We compare different SDFs and UDFs for the scene completion task on indoor and outdoor point clouds collected using RGB-D and LiDAR sensors and show improved completion using the proposed UDF function.

Niccolò Dalmasso, Taylor Pospisil, Ann B. Lee et al.

It is well known in astronomy that propagating non-Gaussian prediction uncertainty in photometric redshift estimates is key to reducing bias in downstream cosmological analyses. Similarly, likelihood-free inference approaches, which are beginning to emerge as a tool for cosmological analysis, require a characterization of the full uncertainty landscape of the parameters of interest given observed data. However, most machine learning (ML) or training-based methods with open-source software target point prediction or classification, and hence fall short in quantifying uncertainty in complex regression and parameter inference settings. As an alternative to methods that focus on predicting the response (or parameters) $\mathbf{y}$ from features $\mathbf{x}$, we provide nonparametric conditional density estimation (CDE) tools for approximating and validating the entire probability density function (PDF) $\mathrm{p}(\mathbf{y}|\mathbf{x})$ of $\mathbf{y}$ given (i.e., conditional on) $\mathbf{x}$. As there is no one-size-fits-all CDE method, the goal of this work is to provide a comprehensive range of statistical tools and open-source software for nonparametric CDE and method assessment which can accommodate different types of settings and be easily fit to the problem at hand. Specifically, we introduce four CDE software packages in $\texttt{Python}$ and $\texttt{R}$ based on ML prediction methods adapted and optimized for CDE: $\texttt{NNKCDE}$, $\texttt{RFCDE}$, $\texttt{FlexCode}$, and $\texttt{DeepCDE}$. Furthermore, we present the $\texttt{cdetools}$ package, which includes functions for computing a CDE loss function for tuning and assessing the quality of individual PDFs, along with diagnostic functions. We provide sample code in $\texttt{Python}$ and $\texttt{R}$ as well as examples of applications to photometric redshift estimation and likelihood-free cosmological inference via CDE.