Related papers: Visual-Inertial-Semantic Scene Representation for …
Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…
The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision ranging from robotic vision to image analysis. Our proposed method of registering a 3D model of a known object on a…
Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…
Unsupervised learning with generative models has the potential of discovering rich representations of 3D scenes. While geometric deep learning has explored 3D-structure-aware representations of scene geometry, these models typically require…
This article proposes a visual inertial navigation algorithm intended to diminish the horizontal position drift experienced by autonomous fixed wing UAVs (Unmanned Air Vehicles) in the absence of GNSS (Global Navigation Satellite System)…
3D object proposals, quickly detected regions in a 3D scene that likely contain an object of interest, are an effective approach to improve the computational efficiency and accuracy of the object detection framework. In this work, we…
We introduce Consistent Instance Field, a continuous and probabilistic spatio-temporal representation for dynamic scene understanding. Unlike prior methods that rely on discrete tracking or view-dependent features, our approach disentangles…
Event-based vision sensors, such as the Dynamic Vision Sensor (DVS), are ideally suited for real-time motion analysis. The unique properties encompassed in the readings of such sensors provide high temporal resolution, superior sensitivity…
Bird's-Eye View (BEV) features are popular intermediate scene representations shared by the 3D backbone and the detector head in LiDAR-based object detectors. However, little research has been done to investigate how to incorporate…
A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based…
Time-resolved image sensors that capture light at pico-to-nanosecond timescales were once limited to niche applications but are now rapidly becoming mainstream in consumer devices. We propose low-cost and low-power imaging modalities that…
Inertial sensors play a pivotal role in indoor localization, which in turn lays the foundation for pervasive personal applications. However, low-cost inertial sensors, as commonly found in smartphones, are plagued by bias and noise, which…
We present a method to map 2D image observations of a scene to a persistent 3D scene representation, enabling novel view synthesis and disentangled representation of the movable and immovable components of the scene. Motivated by the…
Symmetry plays a vital role in understanding structural patterns, aiding object recognition and scene interpretation. This paper focuses on rotation symmetry, where objects remain unchanged when rotated around a central axis, requiring…
In this paper, a LiDAR-inertial odometry (LIO) method that eliminates the influence of moving objects in dynamic driving scenarios is proposed. This method constructs binarized labels for 3D points of current sweep, and utilizes the label…
Autonomous Vehicles (AVs) use natural images and videos as input to understand the real world by overlaying and inferring digital elements, facilitating proactive detection in an effort to assure safety. A crucial aspect of this process is…
We propose associating language utterances to 3D visual abstractions of the scene they describe. The 3D visual abstractions are encoded as 3-dimensional visual feature maps. We infer these 3D visual scene feature maps from RGB images of the…
The challenge of graphically rendering high frame-rate videos on low compute devices can be addressed through periodic prediction of future frames to enhance the user experience in virtual reality applications. This is studied through the…
We aim to enable robots to visually localize a target person through the aid of an additional sensing modality -- the target person's 3D inertial measurements. The need for such technology may arise when a robot is to meet person in a crowd…
Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…