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We present a novel approach to image restoration that leverages ideas from localized structured prediction and non-linear multi-task learning. We optimize a penalized energy function regularized by a sum of terms measuring the distance…
An efficient method is proposed for refining GPS-acquired location coordinates in urban areas using camera images, Google Street View (GSV) and sensor parameters. The main goal is to compensate for GPS location imprecision in dense area of…
Accurate visual re-localization is very critical to many artificial intelligence applications, such as augmented reality, virtual reality, robotics and autonomous driving. To accomplish this task, we propose an integrated visual…
This paper presents a convex approach to the optimization of a cooperative rendezvous, that is, the problem of two distant spacecraft that simultaneously operate to get closer. Convex programming guarantees convergence towards the optimal…
Motion retargeting is a fundamental problem in computer graphics and computer vision. Existing approaches usually have many strict requirements, such as the source-target skeletons needing to have the same number of joints or share the same…
Motion planning in modified environments is a challenging task, as it compounds the innate difficulty of the motion planning problem with a changing environment. This renders some algorithmic methods such as probabilistic roadmaps less…
In endoscopic surgery, surgeons continuously locate the endoscopic view relative to the anatomy by interpreting the evolving visual appearance of the intraoperative scene in the context of their prior knowledge. Vision-based navigation…
Visual localization techniques often comprise a hierarchical localization pipeline, with a visual place recognition module used as a coarse localizer to initialize a pose refinement stage. While improving the pose refinement step has been…
We present ShapeClipper, a novel method that reconstructs 3D object shapes from real-world single-view RGB images. Instead of relying on laborious 3D, multi-view or camera pose annotation, ShapeClipper learns shape reconstruction from a set…
Learning object segmentation in image and video datasets without human supervision is a challenging problem. Humans easily identify moving salient objects in videos using the gestalt principle of common fate, which suggests that what moves…
Visually localizing an image, i.e., estimating its camera pose, requires building a scene representation that serves as a visual map. The representation we choose has direct consequences towards the practicability of our system. Even when…
Recognizing places from an opposing viewpoint during a return trip is a common experience for human drivers. However, the analogous robotics capability, visual place recognition (VPR) with limited field of view cameras under 180 degree…
Single-image piece-wise planar 3D reconstruction aims to simultaneously segment plane instances and recover 3D plane parameters from an image. Most recent approaches leverage convolutional neural networks (CNNs) and achieve promising…
This paper studies the problem of 3D volumetric reconstruction from two views of a scene with an unknown camera. While seemingly easy for humans, this problem poses many challenges for computers since it requires simultaneously…
Spatial representation learning is essential for GeoAI applications such as urban analytics, enabling the encoding of shapes, locations, and spatial relationships (topological and distance-based) of geo-entities like points, polylines, and…
We present an online approach to efficiently and simultaneously detect and track the 2D pose of multiple people in a video sequence. We build upon Part Affinity Field (PAF) representation designed for static images, and propose an…
Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…
We introduce visual deprojection: the task of recovering an image or video that has been collapsed along a dimension. Projections arise in various contexts, such as long-exposure photography, where a dynamic scene is collapsed in time to…
This extended abstract provides a short introduction on our recently developed perception-based controller for quadrupedal locomotion. Compared to our previous approach based on Visual Foothold Adaptation (VFA) and Model Predictive Control…
We study the problem of 3D shape reconstruction from 2D landmarks extracted in a single image. We adopt the 3D deformable shape model and formulate the reconstruction as a joint optimization of the camera pose and the linear shape…