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Feature matching is a necessary step for many computer vision and photogrammetry applications such as image registration, structure-from-motion, and visual localization. Classical handcrafted methods such as SIFT feature detection and…

Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…

Generative image models can produce convincingly real images, with plausible shapes, textures, layouts and lighting. However, one domain in which they perform notably poorly is in the synthesis of transparent objects, which exhibit…

Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…

In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…

Estimating and modelling the appearance of an object under outdoor illumination conditions is a complex process. Although there have been several studies on illumination estimation and relighting, very few of them focus on estimating the…

The recent advances in query-based multi-camera 3D object detection are featured by initializing object queries in the 3D space, and then sampling features from perspective-view images to perform multi-round query refinement. In such a…

Camera calibration is a crucial step in photogrammetry and 3D vision applications. In practical scenarios with a long working distance to cover a wide area, target-based calibration methods become complicated and inflexible due to site…

Usual Structure-from-Motion (SfM) techniques require at least trifocal overlaps to calibrate cameras and reconstruct a scene. We consider here scenarios of reduced image sets with little overlap, possibly as low as two images at most seeing…

Detecting object-level changes between two images across possibly different views is a core task in many applications that involve visual inspection or camera surveillance. Existing change-detection approaches suffer from three major…

Symmetry is one of the significant visual properties inside an image plane, to identify the geometrically balanced structures through real-world objects. Existing symmetry detection methods rely on descriptors of the local image features…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

Leveraging multi-modal fusion, especially between camera and LiDAR, has become essential for building accurate and robust 3D object detection systems for autonomous vehicles. Until recently, point decorating approaches, in which point…

This paper presents a blind detection and compensation technique for camera lens geometric distortions. The lens distortion introduces higher-order correlations in the frequency domain and in turn it can be detected using higher-order…

In this paper we study the problem of object detection for RGB-D images using semantically rich image and depth features. We propose a new geocentric embedding for depth images that encodes height above ground and angle with gravity for…

Remote sensing image classification can be performed in many different ways to extract meaningful features. One common approach is to perform edge detection. A second approach is to try and detect whole shapes, given the fact that these…

Humans regularly interact with their surrounding objects. Such interactions often result in strongly correlated motion between humans and the interacting objects. We thus ask: "Is it possible to infer object properties from skeletal motion…

We present a learning-based approach to relight a single image of Lambertian and low-frequency specular objects. Our method enables inserting objects from photographs into new scenes and relighting them under the new environment lighting,…

Structure from Motion (SfM) often fails to estimate accurate poses in environments that lack suitable visual features. In such cases, the quality of the final 3D mesh, which is contingent on the accuracy of those estimates, is reduced. One…

Salient object detection, which aims to identify and locate the most salient pixels or regions in images, has been attracting more and more interest due to its various real-world applications. However, this vision task is quite challenging,…