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Fast binary descriptors build the core for many vision based applications with real-time demands like object detection, Visual Odometry or SLAM. Commonly it is assumed, that the acquired images and thus the patches extracted around…
This paper introduces the method of dynamic mode decomposition (DMD) for robustly separating video frames into background (low-rank) and foreground (sparse) components in real-time. The method is a novel application of a technique used for…
The goal of this paper is to create a new framework for dense SLAM that is light enough for micro-robot systems based on depth camera and inertial sensor. Feature-based and direct methods are two mainstreams in visual SLAM. Both methods…
Deploying a humanoid robot to manipulate a new object has traditionally required one to two days of effort: data collection, manual annotation, 3D model acquisition, and model training. This paper presents an end-to-end rapid deployment…
Deep Convolutional Neural Networks (CNNs) have been successfully deployed on robots for 6-DoF object pose estimation through visual perception. However, obtaining labeled data on a scale required for the supervised training of CNNs is a…
We study zero-shot 3D alignment of two given meshes, using a text prompt describing their spatial relation -- an essential capability for content creation and scene assembly. Earlier approaches primarily rely on geometric alignment…
Our paper proposes a direct sparse visual odometry method that combines event and RGB-D data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic behaviors. Event cameras offer high temporal resolution and…
Regular omnidirectional video encoding technics use map projection to flatten a scene from a spherical shape into one or several 2D shapes. Common projection methods including equirectangular and cubic projection have varying levels of…
Achieving high-precision light manipulation is crucial for delivering information through complex media with high fidelity. However, existing spatial light modulation devices face a fundamental tradeoff between speed and accuracy. Digital…
We present a method to estimate depth of a dynamic scene, containing arbitrary moving objects, from an ordinary video captured with a moving camera. We seek a geometrically and temporally consistent solution to this underconstrained…
In this paper, we study alternating projections on nontangential manifolds based on the tangent spaces. The main motivation is that the projection of a point onto a manifold can be computational expensive. We propose to use the tangent…
Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Lensless cameras provide a framework to build thin imaging systems by replacing the lens in a conventional camera with an amplitude or phase mask near the sensor. Existing methods for lensless imaging can recover the depth and intensity of…
We describe MPSE: a Multi-Perspective Simultaneous Embedding method for visualizing high-dimensional data, based on multiple pairwise distances between the data points. Specifically, MPSE computes positions for the points in 3D and provides…
Position sensitive detectors (PSDs) offer possibility to track single active marker's two (or three) degrees of freedom (DoF) position with a high accuracy, while having a fast response time with high update frequency and low latency, all…
Precise and flexible control of structured light fields is essential for applications ranging from optical trapping and quantum simulation to microscopy and materials processing. Acousto-optical deflectors (AODs) are widely used in these…
Dense 3D maps from wide-angle cameras is beneficial to robotics applications such as navigation and autonomous driving. In this work, we propose a real-time dense 3D mapping method for fisheye cameras without explicit rectification and…
Existing techniques for motion imitation often suffer a certain level of latency due to their computational overhead or a large set of correspondence samples to search. To achieve real-time imitation with small latency, we present a…
Structured output support vector machine (SVM) based tracking algorithms have shown favorable performance recently. Nonetheless, the time-consuming candidate sampling and complex optimization limit their real-time applications. In this…