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In this work, we propose a monocular visual odometry framework, which allows exploiting the best attributes of edge feature for illumination-robust camera tracking, while at the same time ameliorating the performance degradation of edge…
Spectroscopy requires high-precision wavelength discrimination but typically requires bulky, alignment-sensitive instrumentation. To address this, we present a compact computational spectrometer built from a single germanium PN photodiode.…
Monocular visual odometry (MVO) is vital in autonomous navigation and robotics, providing a cost-effective and flexible motion tracking solution, but the inherent scale ambiguity in monocular setups often leads to cumulative errors over…
In computer vision domain, how to fast and accurately perform multiview stereo (MVS) is still a challenging problem. In this paper we present a fast yet accurate method for 3D dense reconstruction, called AMHMVS, built on the PatchMatch…
This paper addresses the challenging problem of open-vocabulary object detection (OVOD) where an object detector must identify both seen and unseen classes in test images without labeled examples of the unseen classes in training. A typical…
A key challenge for LiDAR-based 3D object detection is to capture sufficient features from large scale 3D scenes especially for distant or/and occluded objects. Albeit recent efforts made by Transformers with the long sequence modeling…
In this paper we present a novel slanted-plane MRF model which reasons jointly about occlusion boundaries as well as depth. We formulate the problem as the one of inference in a hybrid MRF composed of both continuous (i.e., slanted 3D…
We study the problem of learning association between face and voice, which is gaining interest in the computer vision community lately. Prior works adopt pairwise or triplet loss formulations to learn an embedding space amenable for…
Depth estimation is solved as a regression or classification problem in existing learning-based multi-view stereo methods. Although these two representations have recently demonstrated their excellent performance, they still have apparent…
Highly accurate 3D volumetric reconstruction is still an open research topic where the main difficulty is usually related to merging some rough estimations with high frequency details. One of the most promising methods is the fusion between…
Open-vocabulary object detection (OVD) aims to scale up vocabulary size to detect objects of novel categories beyond the training vocabulary. Recent work resorts to the rich knowledge in pre-trained vision-language models. However, existing…
Estimating the 6D pose of objects accurately, quickly, and robustly remains a difficult task. However, recent methods for directly regressing poses from RGB images using dense features have achieved state-of-the-art results. Stereo vision,…
Omnidirectional depth perception is essential for mobile robotics applications that require scene understanding across a full 360{\deg} field of view. Camera-based setups offer a cost-effective option by using stereo depth estimation to…
RGBD-based real-time dynamic 3D reconstruction suffers from inaccurate inter-frame motion estimation as errors may accumulate with online tracking. This problem is even more severe for single-view-based systems due to strong occlusions.…
We present a novel approach to template matching that is efficient, can handle partial occlusions, and comes with provable performance guarantees. A key component of the method is a reduction that transforms the problem of searching a…
Multi-view 3D object detection is becoming popular in autonomous driving due to its high effectiveness and low cost. Most of the current state-of-the-art detectors follow the query-based bird's-eye-view (BEV) paradigm, which benefits from…
Reliable omnidirectional depth estimation from multi-fisheye stereo matching is pivotal to many applications, such as embodied robotics. Existing approaches either rely on spherical sweeping with heuristic fusion strategies to build the…
Robust feature matching forms the backbone for most Visual Simultaneous Localization and Mapping (vSLAM), visual odometry, 3D reconstruction, and Structure from Motion (SfM) algorithms. However, recovering feature matches from texture-poor…
Out-of-distribution (OOD) detection is essential for deploying deep learning models in open-world environments. Existing approaches, such as energy-based scoring and gradient-projection methods, typically rely on high-dimensional…
Recently, patch-deformation methods have exhibited significant effectiveness in multi-view stereo owing to the deformable and expandable patches in reconstructing textureless areas. However, such methods primarily emphasize broadening the…