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The implementation of a vast majority of machine learning (ML) algorithms boils down to solving a numerical optimization problem. In this context, Stochastic Gradient Descent (SGD) methods have long proven to provide good results, both in…

Pan-sharpening algorithms utilize a panchromatic image and a multispectral image to generate a high spatial and high spectral image. However, the optimizations of the algorithms are designed with different standards. We employ a simple…

We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…

Local feature matching is challenging due to textureless and repetitive patterns. Existing methods focus on using appearance features and global interaction and matching, while the importance of geometry priors in local feature matching has…

Polarization-aware Neural Radiance Fields (NeRF) enable novel view synthesis of specular-reflection scenes but face challenges in slow training, inefficient rendering, and strong dependencies on material/viewpoint assumptions. However, 3D…

3D Gaussian Splatting (3DGS) has recently emerged as a promising approach for 3D reconstruction, providing explicit, point-based representations and enabling high-quality real time rendering. However, when trained with sparse input views,…

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…

We propose 4 insights that help to significantly improve the performance of deep learning models that predict surface normals and semantic labels from a single RGB image. These insights are: (1) denoise the "ground truth" surface normals in…

We propose $S^3$LAM, a novel RGB-D SLAM system that leverages 2D surfel splatting to achieve highly accurate geometric representations for simultaneous tracking and mapping. Unlike existing 3DGS-based SLAM approaches that rely on 3D…

3D Gaussian Splatting (3DGS) has emerged as a transformative method in the field of real-time novel synthesis. Based on 3DGS, recent advancements cope with large-scale scenes via spatial-based partition strategy to reduce video memory and…

The core problem of visual multi-robot simultaneous localization and mapping (MR-SLAM) is how to efficiently and accurately perform multi-robot global localization (MR-GL). The difficulties are two-fold. The first is the difficulty of…

Score-based generative models (SGMs) is a recent class of deep generative models with state-of-the-art performance in many applications. In this paper, we establish convergence guarantees for a general class of SGMs in 2-Wasserstein…

Structure from Motion (SfM) and visual localization in indoor texture-less scenes and industrial scenarios present prevalent yet challenging research topics. Existing SfM methods designed for natural scenes typically yield low accuracy or…

Vision-Language Models (VLMs) often struggle with robust 3D spatial reasoning. Prevailing methods that rely on fine-tuning with 3D visual question-answering (VQA) datasets may overfit dataset-specific biases, while integrating specialized…

Score-based generative models (SGMs) sample from a target distribution by iteratively transforming noise using the score function of the perturbed target. For any finite training set, this score function can be evaluated in closed form, but…

Effective scene representation is critical for the visual grounding ability of representations, yet existing methods for 3D Visual Grounding are often constrained. They either only focus on geometric and visual cues, or, like traditional 3D…

Robust matching of side-scan sonar imagery remains a fundamental challenge in seafloor mapping due to view-dependent backscatter, shadows, and geometric distortion. This paper proposes a novel matching framework that combines physical…

Stereo matching is an important problem in computer vision which has drawn tremendous research attention for decades. Recent years, data-driven methods with convolutional neural networks (CNNs) are continuously pushing stereo matching to…

In machine learning, stochastic gradient descent (SGD) is widely deployed to train models using highly non-convex objectives with equally complex noise models. Unfortunately, SGD theory often makes restrictive assumptions that fail to…

Score-based diffusion models demonstrate superior performance in generative tasks but encounter fundamental bottlenecks in inverse problems due to the analytical intractability of the time-dependent likelihood score. To bridge this gap, we…