Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing instance-based 3D scene segmentations. Commonly, a neural network is trained for this task; however, this requires access to a large, densely annotated dataset, which is widely known to be challenging to obtain. To address this issue, in this work we propose to predict instance segmentations for 3D scenes in an unsupervised way, without relying on ground-truth annotations. To this end, we construct a learning framework consisting of two components: (1) a pseudo-annotation scheme for generating initial unsupervised pseudo-labels; and (2) a self-training algorithm for instance segmentation to fit robust, accurate instances from initial noisy proposals. To enable generating 3D instance mask proposals, we construct a weighted proxy-graph by connecting 3D points with edges integrating multi-modal image-and point-based self-supervised features, and perform graphcuts to isolate individual pseudo-instances. We then build on a state-of-the-art point-based architecture and train a 3D instance segmentation model, resulting in significant refinement of initial proposals. To scale to arbitrary complexity 3D scenes, we design our algorithm to operate on local 3D point chunks and construct a merging step to generate scene-level instance segmentations. Experiments on the challenging SemanticKITTI benchmark demonstrate the potential of our approach, where it attains 13.3% higher Average Precision and 9.1% higher F1 score compared to the best-performing baseline. The code is publicly available at https://github.com/artonson/autoinst.

Recently, significant progress has been achieved in sensing real large-scale outdoor 3D environments, particularly by using modern acquisition equipment such as LiDAR sensors. Unfortunately, they are fundamentally limited in their ability to produce dense, complete 3D scenes. To address this issue, recent learning-based methods integrate neural implicit representations and optimizable feature grids to approximate surfaces of 3D scenes. However, naively fitting samples along raw LiDAR rays leads to noisy 3D mapping results due to the nature of sparse, conflicting LiDAR measurements. Instead, in this work we depart from fitting LiDAR data exactly, instead letting the network optimize a non-metric monotonic implicit field defined in 3D space. To fit our field, we design a learning system integrating a monotonicity loss that enables optimizing neural monotonic fields and leverages recent progress in large-scale 3D mapping. Our algorithm achieves high-quality dense 3D mapping performance as cap¬tured by multiple quantitative and perceptual measures and visual results obtained for Mai City, Newer College, and KITTI benchmarks. The code of our approach is publicly available at https://github.com/artonson/deepmif.

Uplift modeling is a collection of machine learning techniques for estimating causal effects of a treatment at the individual or subgroup levels. Over the last years, causality and uplift modeling have become key trends in personalization at online e-commerce platforms, enabling the selection of the best treatment for each user in order to maximize the target business metric. Uplift modeling can be particularly useful for personalized promotional campaigns, where the potential benefit caused by a promotion needs to be weighed against the potential costs. In this tutorial we will cover basic concepts of causality and introduce the audience to state-of-the-art techniques in uplift modeling. We will discuss the advantages and the limitations of different approaches and dive into the unique setup of constrained uplift modeling. Finally, we will present real-life applications and discuss challenges in implementing these models in production.

Lines are interesting geometrical features commonly seen in indoor and urban environments. There is missing a complete benchmark where one can evaluate lines from a sequential stream of images in all its stages: Line detection, Line Association and Pose error. To do so, we present a complete and exhaustive benchmark for visual lines in a SLAM front-end, both for RGB and RGBD, by providing a plethora of complementary metrics. We have also labeled data from well-known SLAM datasets in order to have all in one poses and accurately annotated lines. In particular, we have evaluated 17 line detection algorithms, 5 line associations methods and the resultant pose error for aligning a pair of frames with several combinations of detector-association. We have packaged all methods and evaluations metrics and made them publicly available on web-page33https://prime-slam.github.io/evolin/.

We present a dataset of 1000 video sequences of human portraits recorded in real and uncontrolled conditions by using a handheld smartphone accompanied by an external high-quality depth camera. The collected dataset contains 200 people captured in different poses and locations and its main purpose is to bridge the gap between raw measurements obtained from a smartphone and downstream applications, such as state estimation, 3D reconstruction, view synthesis, etc. The sensors employed in data collection are the smartphone's camera and Inertial Measurement Unit (IMU), and an external Azure Kinect DK depth camera software synchronized with sub-millisecond precision to the smartphone system. During the recording, the smartphone flash is used to provide a periodic secondary source of lightning. Accurate mask of the foremost person is provided as well as its impact on the camera alignment accuracy. For evaluation purposes, we compare multiple state-of-the-art camera alignment methods by using a Motion Cap-ture system. We provide a smartphone visual-inertial bench-mark for portrait capturing, where we report results for multiple methods and motivate further use of the provided trajectories, available in the dataset, in view synthesis and 3D reconstruction tasks.

This paper provides the EVOPS dataset for plane segmentation from 3D data, both from RGBD images and LiDAR point clouds. We have designed two annotation methodologies (RGBD and LiDAR) running on well-known and widely-used datasets for SLAM evaluation and we have provided a complete set of benchmarking tools including point, planes and segmentation metrics. The data includes a total number of 10k RGBD and 7K LiDAR frames over different selected scenes which consist of high quality segmented planes. The experiments report quality of SOTA methods for RGBD plane segmentation on our annotated data. We also have provided learnable baseline for plane segmentation in LiDAR point clouds. All labeled data and benchmark tools used have been made publicly available https://evops.netlify.app/.

Online Travel Platforms are virtual two-sided marketplaces where guests search for accommodations and accommodation providers list their properties such as hotels and vacation rentals. The large majority of hotels are rated by official institutions with a number of stars indicating the quality of service they provide. It is a simple and effective mechanism that contributes to match supply with demand by helping guests to find options meeting their criteria and accommodation suppliers to market their product to the right segment directly impacting the number of transactions on the platform. Unfortunately, no similar rating system exists for the large majority of vacation rentals, making it difficult for guests to search and compare options and hard for vacation rentals suppliers to market their product effectively. In this work we describe a machine learned quality rating system for vacation rentals. The problem is challenging, mainly due to explainability requirements and the lack of ground truth. We present techniques to address these challenges and empirical evidence of their efficacy. Our system was successfully deployed and validated through Online Controlled Experiments performed in Booking.com, a large Online Travel Platform, and running for more than one year, impacting more than a million accommodations and millions of guests.