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Tracking the pose of instruments is a central problem in image-guided surgery. For microscopic scenarios, optical coherence tomography (OCT) is increasingly used as an imaging modality. OCT is suitable for accurate pose estimation due to…

Deep neural networks, albeit their great success on feature learning in various computer vision tasks, are usually considered as impractical for online visual tracking because they require very long training time and a large number of…

Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…

Convolutional Neural Networks (CNNs) are a standard approach for visual recognition due to their capacity to learn hierarchical representations from raw pixels. In practice, practitioners often choose among (i) training a compact custom CNN…

Convolutional neural networks (CNNs) show outstanding performance in many image processing problems, such as image recognition, object detection and image segmentation. Semantic segmentation is a very challenging task that requires…

The ability to accurately detect and classify objects at varying pixel sizes in cluttered scenes is crucial to many Navy applications. However, detection performance of existing state-of the-art approaches such as convolutional neural…

Convolutional Neural Networks (CNNs) have been recently employed to solve problems from both the computer vision and medical image analysis fields. Despite their popularity, most approaches are only able to process 2D images while most…

An important goal in visual recognition is to devise image representations that are invariant to particular transformations. In this paper, we address this goal with a new type of convolutional neural network (CNN) whose invariance is…

Applying convolutional neural networks to large images is computationally expensive because the amount of computation scales linearly with the number of image pixels. We present a novel recurrent neural network model that is capable of…

This article introduces BEVPlace++, a novel, fast, and robust LiDAR global localization method for unmanned ground vehicles. It uses lightweight convolutional neural networks (CNNs) on Bird's Eye View (BEV) image-like representations of…

In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…

Robotic grasping detection is one of the most important fields in robotics, in which great progress has been made recent years with the help of convolutional neural network (CNN). However, including multiple objects in one scene can…

Event recognition from still images is of great importance for image understanding. However, compared with event recognition in videos, there are much fewer research works on event recognition in images. This paper addresses the issue of…

Omnidirectional image (ODI) data is captured with a field-of-view of 360x180, which is much wider than the pinhole cameras and captures richer surrounding environment details than the conventional perspective images. In recent years, the…

After the incredible success of deep learning in the computer vision domain, there has been much interest in applying Convolutional Network (ConvNet) features in robotic fields such as visual navigation and SLAM. Unfortunately, there are…

This paper presents a study on the use of Convolutional Neural Networks for camera relocalisation and its application to map compression. We follow state of the art visual relocalisation results and evaluate response to different data…

In this paper we propose an end-to-end learnable approach that detects static urban objects from multiple views, re-identifies instances, and finally assigns a geographic position per object. Our method relies on a Graph Neural Network…

The objective of this work is to estimate 3D human pose from a single RGB image. Extracting image representations which incorporate both spatial relation of body parts and their relative depth plays an essential role in accurate3D pose…

Given a scene, what is going to move, and in what direction will it move? Such a question could be considered a non-semantic form of action prediction. In this work, we present a convolutional neural network (CNN) based approach for motion…

In this paper we present CMRNet, a realtime approach based on a Convolutional Neural Network to localize an RGB image of a scene in a map built from LiDAR data. Our network is not trained in the working area, i.e. CMRNet does not learn the…