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We propose a pipeline for combined multi-class object geolocation and height estimation from street level RGB imagery, which is considered as a single available input data modality. Our solution is formulated via Markov Random Field…
We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…
We study an important, yet largely unexplored problem of large-scale cross-modal visual localization by matching ground RGB images to a geo-referenced aerial LIDAR 3D point cloud (rendered as depth images). Prior works were demonstrated on…
This paper describes an algorithm for classification of roof materials using aerial photographs. Main advantages of the algorithm are proposed methods to improve prediction accuracy. Proposed methods includes: method of converting ImageNet…
This paper proposes a deep learning based solution for multi-modal image alignment regarding UAV-taken images. Many recently proposed state-of-the-art alignment techniques rely on using Lucas-Kanade (LK) based solutions for a successful…
Current visual navigation strategies mainly follow an exploration-first and then goal-directed navigation paradigm. This exploratory phase inevitably compromises the overall efficiency of navigation. Recent studies propose leveraging floor…
Grounding referring expressions in RGBD image has been an emerging field. We present a novel task of 3D visual grounding in single-view RGBD image where the referred objects are often only partially scanned due to occlusion. In contrast to…
Automating architectural floorplan design is vital for housing and interior design, offering a faster, cost-effective alternative to manual sketches by architects. However, existing methods, including rule-based and learning-based…
Point cloud registration is a task to estimate the rigid transformation between two unaligned scans, which plays an important role in many computer vision applications. Previous learning-based works commonly focus on supervised…
This paper presents an accurate and fast 3D global localization method, 3D-BBS, that extends the existing branch-and-bound (BnB)-based 2D scan matching (BBS) algorithm. To reduce memory consumption, we utilize a sparse hash table for…
With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…
Recently, reconstructing scenes from a single panoramic image using advanced 3D Gaussian Splatting (3DGS) techniques has attracted growing interest. Panoramic images offer a 360$\times$ 180 field of view (FoV), capturing the entire scene in…
We propose a new method for segmentation-free joint estimation of orthogonal planes, their intersection lines, relationship graph and corners lying at the intersection of three orthogonal planes. Such unified scene exploration under…
Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with…
This paper aims at developing a faster and a more accurate solution to the amodal 3D object detection problem for indoor scenes. It is achieved through a novel neural network that takes a pair of RGB-D images as the input and delivers…
Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…
Radio-interferometric (RI) imaging entails solving high-resolution high-dynamic range inverse problems from large data volumes. Recent image reconstruction techniques grounded in optimization theory have demonstrated remarkable capability…
Floorplan reconstruction provides structural priors essential for reliable indoor robot navigation and high-level scene understanding. However, existing approaches either require time-consuming offline processing with a complete map, or…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
The objective of this study is improving the location estimate of a mobile robot capable of motion on a plane and mounted with a conventional 2D LIDAR sensor, given an initial guess for its location on a 2D map of its surroundings.…