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We propose a novel approach for joint 3D multi-object tracking and reconstruction from RGB-D sequences in indoor environments. To this end, we detect and reconstruct objects in each frame while predicting dense correspondences mappings into…
Remote sensing techniques are widely used for land cover classification and urban analysis. The availability of high resolution remote sensing imagery limits the level of classification accuracy attainable from pixel-based approach. In this…
3D object detection is a fundamental task in scene understanding. Numerous research efforts have been dedicated to better incorporate Hough voting into the 3D object detection pipeline. However, due to the noisy, cluttered, and partial…
Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…
In this paper we tackle the problem of estimating the 3D pose of object instances, using convolutional neural networks. State of the art methods usually solve the challenging problem of regression in angle space indirectly, focusing on…
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…
We present ARTPS (Autonomous Rover Target Prioritization System), a novel hybrid AI system that combines depth estimation, anomaly detection, and learnable curiosity scoring for autonomous exploration of planetary surfaces. Our approach…
Following the successes in the fields of vision and language, self-supervised pretraining via masked autoencoding of 3D point set data, or Masked Point Modeling (MPM), has achieved state-of-the-art accuracy in various downstream tasks.…
With the advent of Neural Radiance Field (NeRF), representing 3D scenes through multiple observations has shown remarkable improvements in performance. Since this cutting-edge technique is able to obtain high-resolution renderings by…
Recovering the 3D structure of the scene from images yields useful information for tasks such as shape and scene recognition, object detection, or motion planning and object grasping in robotics. In this thesis, we introduce a general…
This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…
Pose estimation of 3D objects in monocular images is a fundamental and long-standing problem in computer vision. Existing deep learning approaches for 6D pose estimation typically rely on the assumption of availability of 3D object models…
3D local feature extraction and matching is the basis for solving many tasks in the area of computer vision, such as 3D registration, modeling, recognition and retrieval. However, this process commonly draws into false correspondences, due…
Robust parameter estimation is a crucial task in several 3D computer vision pipelines such as Structure from Motion (SfM). State-of-the-art algorithms for robust estimation, however, still suffer from difficulties in converging to…
Current robotic haptic object recognition relies on statistical measures derived from movement dependent interaction signals such as force, vibration or position. Mechanical properties that can be identified from these signals are intrinsic…
Predicting accurate normal maps of objects from two-dimensional images in regions of complex structure and spatial material variations is challenging using photometric stereo methods due to the influence of surface reflection properties…
Robots working in human environments often encounter a wide range of articulated objects, such as tools, cabinets, and other jointed objects. Such articulated objects can take an infinite number of possible poses, as a point in a…
Image data captured outdoors often exhibit unbounded scenes and unconstrained, varying lighting conditions, making it challenging to decompose them into geometry, reflectance, and illumination. Recent works have focused on achieving this…
Detection and description of keypoints from an image is a well-studied problem in Computer Vision. Some methods like SIFT, SURF or ORB are computationally really efficient. This paper proposes a solution for a particular case study on…
3D scene representation for robot manipulation should capture three key object properties: permanency -- objects that become occluded over time continue to exist; amodal completeness -- objects have 3D occupancy, even if only partial…