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Many existing learning-based grasping approaches concentrate on a single embodiment, provide limited generalization to higher DoF end-effectors and cannot capture a diverse set of grasp modes. We tackle the problem of grasping using…
A wide range of models have been proposed for Graph Generative Models, necessitating effective methods to evaluate their quality. So far, most techniques use either traditional metrics based on subgraph counting, or the representations of…
The homography matrix is a key component in various vision-based robotic tasks. Traditionally, homography estimation algorithms are classified into feature- or intensity-based. The main advantages of the latter are their versatility,…
This work studies deep metric learning under small to medium scale data as we believe that better generalization could be a contributing factor to the improvement of previous fine-grained image retrieval methods; it should be considered…
This paper presents a comprehensive study of interactive rendering techniques for large 3D line sets with transparency. The rendering of transparent lines is widely used for visualizing trajectories of tracer particles in flow fields.…
Transmission and distribution dynamic co-simulation is a practical and effective approach to leverage existing simulation tools for transmission and distribution systems to simulate dynamic stability and performance of transmission and…
Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…
In recent years, deep generative models have gained significance due to their ability to synthesize natural-looking images with applications ranging from virtual reality to data augmentation for training computer vision models. While…
We propose an approach to 3D reconstruction via inverse procedural modeling and investigate two variants of this approach. The first option consists in the fitting set of input parameters using a genetic algorithm. We demonstrate the…
Hyperbolic geometry has emerged as an effective latent space for representing complex networks, owing to its ability to capture hierarchical organization and heterogeneous connectivity patterns using low-dimensional embeddings. As a result,…
Generating high-quality 3D objects from textual descriptions remains a challenging problem due to computational cost, the scarcity of 3D data, and complex 3D representations. We introduce Geometry Image Diffusion (GIMDiffusion), a novel…
For modeling the 3D world behind 2D images, which 3D representation is most appropriate? A polygon mesh is a promising candidate for its compactness and geometric properties. However, it is not straightforward to model a polygon mesh from…
Existing visual localization methods are typically either 2D image-based, which are easy to build and maintain but limited in effective geometric reasoning, or 3D structure-based, which achieve high accuracy but require a centralized…
We address the problem of determining correspondences between two images in agreement with a geometric model such as an affine or thin-plate spline transformation, and estimating its parameters. The contributions of this work are…
Robot localization remains a challenging task in GPS denied environments. State estimation approaches based on local sensors, e.g. cameras or IMUs, are drifting-prone for long-range missions as error accumulates. In this study, we aim to…
Object viewpoint estimation from 2D images is an essential task in computer vision. However, two issues hinder its progress: scarcity of training data with viewpoint annotations, and a lack of powerful features. Inspired by the growing…
This technical report tries to fill a gap in current literature on Timescale Graphical Event Models. I propose and evaluate different heuristics to determine hyper-parameters during the structure learning algorithm and refine an existing…
Image colorization is the process of colorizing grayscale images or recoloring an already-color image. This image manipulation can be used for grayscale satellite, medical and historical images making them more expressive. With the help of…
This paper presents a survey of ocean simulation and rendering methods in computer graphics. To model and animate the ocean's surface, these methods mainly rely on two main approaches: on the one hand, those which approximate ocean dynamics…
Segment matching is an important intermediate task in computer vision that establishes correspondences between semantically or geometrically coherent regions across images. Unlike keypoint matching, which focuses on localized features,…