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Each photo in an image burst can be considered a sample of a complex 3D scene: the product of parallax, diffuse and specular materials, scene motion, and illuminant variation. While decomposing all of these effects from a stack of…
A fundamental challenge to sensory processing tasks in perception and robotics is the problem of obtaining data associations across views. We present a robust solution for ascertaining potentially dense surface patch (superpixel)…
Face anti-spoofing (FAS) is indispensable for a face recognition system. Many texture-driven countermeasures were developed against presentation attacks (PAs), but the performance against unseen domains or unseen spoofing types is still…
Local feature matching aims at establishing sparse correspondences between a pair of images. Recently, detector-free methods present generally better performance but are not satisfactory in image pairs with large scale differences. In this…
High-dimensional representations, such as radial basis function networks or tile coding, are common choices for policy evaluation in reinforcement learning. Learning with such high-dimensional representations, however, can be expensive,…
Woven fabrics are widely used in applications of realistic rendering, where real-time capability is also essential. However, rendering realistic woven fabrics in real time is challenging due to their complex structure and optical…
Given an unlabeled road map, we consider, from an algorithmic perspective, the cartographic problem to place non-overlapping road labels embedded in their roads. We first decompose the road network into logically coherent road sections,…
Gaussian Splatting (GS) is a recent and pivotal technique in 3D computer graphics. GS-based algorithms almost always bypass classical methods such as ray tracing, which offer numerous inherent advantages for rendering. For example, ray…
Real-time Digital Twinning of physical world scenes onto the Metaverse is necessary for a myriad of applications such as augmented-reality (AR) assisted driving. In AR assisted driving, physical environment scenes are first captured by…
We present an automated technique for computing a map between two genus-zero shapes, which matches semantically corresponding regions to one another. Lack of annotated data prohibits direct inference of 3D semantic priors; instead, current…
Online dense mapping of urban scenes forms a fundamental cornerstone for scene understanding and navigation of autonomous vehicles. Recent advancements in mapping methods are mainly based on NeRF, whose rendering speed is too slow to meet…
Constructing precise global maps is a key task in robotics and is required for localization, surveying, monitoring, or constructing digital twins. To build accurate maps, data from mobile 3D LiDAR sensors is often used. Mapping requires…
Image feature matching is a fundamental part of many geometric computer vision applications, and using multiple images can improve performance. In this work, we formulate multi-image matching as a graph embedding problem then use a Graph…
LiDAR sensors provide rich 3D information about their surrounding{s} and are becoming increasingly important for autonomous vehicles tasks such as {localization}, semantic segmentation, object detection, and tracking. {Simulation}…
In this work, we propose an extension of the mixed Virtual Element Method (VEM) for bi-dimensional computational grids with curvilinear edge elements. The approximation by means of rectilinear edges of a domain with curvilinear geometrical…
3D Gaussian Splatting (3DGS) has recently enabled real-time photorealistic rendering in compact scenes, but scaling to large urban environments introduces severe aliasing artifacts and optimization instability, especially under…
Graph comparison is a fundamental operation in data mining and information retrieval. Due to the combinatorial nature of graphs, it is hard to balance the expressiveness of the similarity measure and its scalability. Spectral analysis…
Realistic scene reconstruction and view synthesis are essential for advancing autonomous driving systems by simulating safety-critical scenarios. 3D Gaussian Splatting excels in real-time rendering and static scene reconstructions but…
This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…
Accurate real-time simulation of lens optics remains challenging due to the computational expense of full ray tracing and the limitations of existing approximations. The commonly used pinhole model and thin-lens model ignore many optical…