We present a novel-view rendering algorithm, Mode-GS, for ground-robot trajectory datasets. Our approach is based on using anchored Gaussian splats, which are designed to overcome the limitations of existing 3D Gaussian splatting algorithms. Prior neural rendering methods suffer from severe splat drift due to scene complexity and insufficient multi-view observation, and can fail to fix splats on the true geometry in ground-robot datasets. Our method integrates pixel-aligned anchors from monocular depths and generates Gaussian splats around these anchors using residual-form Gaussian decoders. To address the inherent scale ambiguity of monocular depth, we parameterize anchors with per-view depth-scales and employ scale-consistent depth loss for online scale calibration. Our method results in improved rendering performance, based on PSNR, SSIM, and LPIPS metrics, in ground scenes with free trajectory patterns, and achieves state-of-the-art rendering performance on the R3LIVE odometry dataset and the Tanks and Temples dataset.

In this paper, we present a new approach to bridge the domain gap between synthetic and real-world data for un- manned aerial vehicle (UAV)-based perception. Our formu- lation is designed for dynamic scenes, consisting of moving objects or human actions, where the goal is to recognize the pose or actions. We propose an extension of K-Planes Neural Radiance Field (NeRF), wherein our algorithm stores a set of tiered feature vectors. The tiered feature vectors are generated to effectively model conceptual information about a scene as well as an image decoder that transforms output feature maps into RGB images. Our technique leverages the information amongst both static and dynamic objects within a scene and is able to capture salient scene attributes of high altitude videos. We evaluate its performance on challenging datasets, including Okutama Action and UG2, and observe considerable improvement in accuracy over state of the art aerial perception algorithms.

With online calendar services gaining popularity worldwide, calendar data has become one of the richest context sources for understanding human behavior. However, event scheduling is still time-consuming even with the development of online calendars. Although machine learning based event scheduling models have automated scheduling processes to some extent, they often fail to understand subtle user preferences and complex calendar contexts with event titles written in natural language. In this paper, we propose Neural Event Scheduling Assistant (NESA) which learns user preferences and understands calendar contexts, directly from raw online calendars for fully automated and highly effective event scheduling. We leverage over 593K calendar events for NESA to learn scheduling personal events, and we further utilize NESA for multi-attendee event scheduling. NESA successfully incorporates deep neural networks such as Bidirectional Long Short-Term Memory, Convolutional Neural Network, and Highway Network for learning the preferences of each user and understanding calendar context based on natural languages. The experimental results show that NESA significantly outperforms previous baseline models in terms of various evaluation metrics on both personal and multi-attendee event scheduling tasks. Our qualitative analysis demonstrates the effectiveness of each layer in NESA and learned user preferences.