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Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
Depth estimation is an essential component in understanding the 3D geometry of a scene, with numerous applications in urban and indoor settings. These scenes are characterized by a prevalence of human made structures, which in most of the…
Existing supervised action segmentation methods depend on the quality of frame-wise classification using attention mechanisms or temporal convolutions to capture temporal dependencies. Even boundary detection-based methods primarily depend…
Appearance-based gaze estimation has been actively studied in recent years. However, its generalization performance for unseen head poses is still a significant limitation for existing methods. This work proposes a generalizable multi-view…
Image matching is a fundamental problem in Computer Vision with direct applications in robotics, remote sensing, and geospatial data analysis. We present an analytical and experimental evaluation of classical local feature-based image…
Eyeframe lens tracing is an important process in the optical industry that requires sub-millimeter precision to ensure proper lens fitting and optimal vision correction. Traditional frame tracers rely on mechanical tools that need precise…
We present a promising approach to the extremely fast sensing and correction of small wavefront errors in adaptive optics systems. As our algorithm's computational complexity is roughly proportional to the number of actuators, it is…
The capability of the adaptive optics to correct for the segmentation error is analyzed in terms of the residual wavefront RMS and the power spectral density of the phase. The analytical model and the end-to-end simulation give…
Inferring the 6DoF pose of an object from a single RGB image is an important but challenging task, especially under heavy occlusion. While recent approaches improve upon the two stage approaches by training an end-to-end pipeline, they do…
Robustly estimating camera poses from a set of images is a fundamental task which remains challenging for differentiable methods, especially in the case of small and sparse camera pose graphs. To overcome this challenge, we propose…
In this work we consider the {\em image matching} problem for two grayscale $n \times n$ images, $M_1$ and $M_2$ (where pixel values range from 0 to 1). Our goal is to find an affine transformation $T$ that maps pixels from $M_1$ to pixels…
Neural surface reconstruction is sensitive to the camera pose noise, even if state-of-the-art pose estimators like COLMAP or ARKit are used. More importantly, existing Pose-NeRF joint optimisation methods have struggled to improve pose…
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,…
This paper presents an Extended Kalman Filter (EKF) approach to localize a mobile robot with two quadrature encoders, a compass sensor, a laser range finder (LRF) and an omni-directional camera. The prediction step is performed by employing…
The estimation of the relative pose of two camera views is a fundamental problem in computer vision. Kneip et al. proposed to solve this problem by introducing the normal epipolar constraint (NEC). However, their approach does not take into…
We present an algorithm for performing precise aperture photometry on critically sampled astrophysical images. The method is intended to overcome the small-aperture limitations imposed by point-sampling. Aperture fluxes are numerically…
Active Appearance Model (AAM) is a commonly used method for facial image analysis with applications in face identification and facial expression recognition. This paper proposes a new approach based on image alignment for AAM fitting called…
We consider the problem of unsupervised camera pose estimation. Given an input video sequence, our goal is to estimate the camera pose (i.e. the camera motion) between consecutive frames. Traditionally, this problem is tackled by placing…
Omnidirectional depth estimation has received much attention from researchers in recent years. However, challenges arise due to camera soiling and variations in camera layouts, affecting the robustness and flexibility of the algorithm. In…
In contrast to comparing faces via single exemplars, matching sets of face images increases robustness and discrimination performance. Recent image set matching approaches typically measure similarities between subspaces or manifolds, while…