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Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms. In comparison with existing VO and V-SLAM algorithms, semi-direct visual…

To address the challenge of short-term object pose tracking in dynamic environments with monocular RGB input, we introduce a large-scale synthetic dataset OmniPose6D, crafted to mirror the diversity of real-world conditions. We additionally…

Tracking a target of interest in both sparse and crowded environments is a challenging problem, not yet successfully addressed in the literature. In this paper, we propose a new long-term visual tracking algorithm, learning discriminative…

Visual object tracking is a fundamental video task in computer vision. Recently, the notably increasing power of perception algorithms allows the unification of single/multiobject and box/mask-based tracking. Among them, the Segment…

Line segment extraction is effective for capturing geometric features of human-made environments. Event-based cameras, which asynchronously respond to contrast changes along edges, enable efficient extraction by reducing redundant data.…

Recently, one-stage detectors have achieved competitive accuracy and faster speed compared with traditional two-stage detectors on image data. However, in the field of video object detection (VOD), most existing VOD methods are still based…

In this paper, we propose a novel sparse coding and counting method under Bayesian framwork for visual tracking. In contrast to existing methods, the proposed method employs the combination of L0 and L1 norm to regularize the linear…

Existing visual tracking methods usually localize a target object with a bounding box, in which the performance of the foreground object trackers or detectors is often affected by the inclusion of background clutter. To handle this problem,…

This paper introduces a cost effective localization system combining monocular visual odometry , augmented reality (AR) poses, and integrated INS-GPS data. We address monocular VO scale factor issues using AR poses and enhance accuracy with…

Visual object tracking is an important task in computer vision, which has many real-world applications, e.g., video surveillance, visual navigation. Visual object tracking also has many challenges, e.g., object occlusion and deformation. To…

Semi-supervised video object segmentation (VOS) aims to track the designated objects present in the initial frame of a video at the pixel level. To fully exploit the appearance information of an object, pixel-level feature matching is…

This paper looks into the problem of pedestrian tracking using a monocular, potentially moving, uncalibrated camera. The pedestrians are located in each frame using a standard human detector, which are then tracked in subsequent frames.…

Feature matching is crucial in visual localization, where 2D-3D correspondence plays a major role in determining the accuracy of camera pose. A sufficient number of well-distributed 2D-3D correspondences is essential for accurate pose…

Estimating the target extent poses a fundamental challenge in visual object tracking. Typically, trackers are box-centric and fully rely on a bounding box to define the target in the scene. In practice, objects often have complex shapes and…

Background: Pose estimation of rigid objects is a practical challenge in optical metrology and computer vision. This paper presents a novel stochastic-geometrical modeling framework for object pose estimation based on observing multiple…

In this paper, we propose an approach to learn hierarchical features for visual object tracking. First, we offline learn features robust to diverse motion patterns from auxiliary video sequences. The hierarchical features are learned via a…

Resource-constrained autonomous robots rely on sparse direct and semi-direct visual-(inertial)-odometry (VO) pipelines, as they provide a favorable tradeoff between accuracy, robustness, and computational cost. However, the performance of…

Video diffusion models lack explicit geometric supervision during training, leading to inconsistency artifacts such as object deformation, spatial drift, and depth violations in generated videos. To address this limitation, we propose a…

A robust visual tracking system requires an object appearance model that is able to handle occlusion, pose, and illumination variations in the video stream. This can be difficult to accomplish when the model is trained using only a single…

In this paper, we extend the recently developed continuous visual odometry framework for RGB-D cameras to an adaptive framework via online hyperparameter learning. We focus on the case of isotropic kernels with a scalar as the length-scale.…