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To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Convolutional Neural Networks (CNN) are successfully used for various visual perception tasks including bounding box object detection, semantic segmentation, optical flow, depth estimation and visual SLAM. Generally these tasks are…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Object Goal Navigation (ObjectNav) challenges robots to find objects in unseen environments, demanding sophisticated reasoning. While Vision-Language Models (VLMs) show potential, current ObjectNav methods often employ them superficially,…

This paper proposes a novel framework for real-time localization and egomotion tracking of a vehicle in a reference map. The core idea is to map the semantic objects observed by the vehicle and register them to their corresponding objects…

The goal of this paper is to perform object detection in satellite imagery with only a few examples, thus enabling users to specify any object class with minimal annotation. To this end, we explore recent methods and ideas from…

Automatic target recognition (ATR) plays a critical role in tasks such as navigation and surveillance, where safety and accuracy are paramount. In extreme use cases, such as military applications, these factors are often challenged due to…

In this paper, we propose a transformer based approach for visual grounding. Unlike previous proposal-and-rank frameworks that rely heavily on pretrained object detectors or proposal-free frameworks that upgrade an off-the-shelf one-stage…

Recognizing a target of interest from the UAVs is much more challenging than the existing object re-identification tasks across multiple city cameras. The images taken by the UAVs usually suffer from significant size difference when…

Unmanned aerial vehicles (UAVs) are widely used for object detection. However, the existing UAV-based object detection systems are subject to severe challenges, namely, their limited computation, energy and communication resources, which…

Visual localization remains challenging in dynamic environments where fluctuating lighting, adverse weather, and moving objects disrupt appearance cues. Despite advances in feature representation, current absolute pose regression methods…

This paper presents a detailed study of improving visual representations for vision language (VL) tasks and develops an improved object detection model to provide object-centric representations of images. Compared to the most widely used…

Object detection from images captured by Unmanned Aerial Vehicles (UAVs) is becoming increasingly useful. Despite the great success of the generic object detection methods trained on ground-to-ground images, a huge performance drop is…

Due to implicitly introduced periodic shifting of limited searching area, visual object tracking using correlation filters often has to confront undesired boundary effect. As boundary effect severely degrade the quality of object model, it…

Tactile representation learning (TRL) equips robots with the ability to leverage touch information, boosting performance in tasks such as environment perception and object manipulation. However, the heterogeneity of tactile sensors results…

Object recognition in unseen indoor environments remains a challenging problem for visual perception of mobile robots. In this letter, we propose the use of topologically persistent features, which rely on the objects' shape information, to…

Radar sensors provide reliable perception across adverse weather, lighting, and long-range conditions, yet existing machine learning approaches remain fragmented and task-specific, with each downstream task employing distinct architectures…

The need to count and localize repeating objects in an image arises in different scenarios, such as biological microscopy studies, production lines inspection, and surveillance recordings analysis. The use of supervised Convoutional Neural…

To identify objects beyond predefined categories, open-vocabulary aerial object detection (OVAD) leverages the zero-shot capabilities of visual-language models (VLMs) to generalize from base to novel categories. Existing approaches…

Vision-language models (VLMs) excel in visual understanding but often lack reliable grounding capabilities and actionable inference rates. Integrating them with open-vocabulary object detection (OVD), instance segmentation, and tracking…