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Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…
People with blindness and low vision (pBLV) experience significant challenges when locating final destinations or targeting specific objects in unfamiliar environments. Furthermore, besides initially locating and orienting oneself to a…
Lacking the ability to sense ambient environments effectively, blind and visually impaired people (BVIP) face difficulty in walking outdoors, especially in urban areas. Therefore, tools for assisting BVIP are of great importance. In this…
Global Positioning Systems (GPS) have played a crucial role in various navigation applications. Nevertheless, localizing the perfect destination within the last few meters remains an important but unresolved problem. Limited by the GPS…
This paper details an application which yields significant improvements to the adeptness of place recognition with Frequency-Modulated Continuous-Wave radar - a commercially promising sensor poised for exploitation in mobile autonomy. We…
Recent advances in implicit neural representations and differentiable rendering make it possible to simultaneously recover the geometry and materials of an object from multi-view RGB images captured under unknown static illumination.…
With the rapid advent of Virtual Reality (VR) technology and virtual tour applications, there is a research need on spatial queries tailored for simultaneous movements in both the physical and virtual worlds. Traditional spatial queries,…
We use an immersive virtual reality environment to explore the intricate social cues that underlie non-verbal communication involved in a pedestrian's crossing decision. We "hack" non-verbal communication between pedestrian and vehicle by…
"Virtual-Physical Perceptual Manipulations" (VPPMs) such as redirected walking and haptics expand the user's capacity to interact with Virtual Reality (VR) beyond what would ordinarily physically be possible. VPPMs leverage knowledge of the…
Natural interaction between multiple users within a shared virtual environment (VE) relies on each other's awareness of the current position of the interaction partners. This, however, cannot be warranted when users employ noncontinuous…
Visually impaired persons have significant problems in their everyday movement. Therefore, some of our previous work involves computer vision in developing assistance systems for guiding the visually impaired in critical situations. Some of…
Indoor built environments like homes and offices often present complex and cluttered layouts that pose significant challenges for individuals who are blind or visually impaired, especially when performing tasks that involve locating and…
We propose a segmentation-based bounding box generation method for omnidirectional pedestrian detection that enables detectors to tightly fit bounding boxes to pedestrians without omnidirectional images for training. Due to the wide angle…
Visualizations rely on highlighting to attract and guide our attention. To make an object of interest stand out independently from a number of distractors, the underlying visual cue, e.g., color, has to be preattentive. In our prior work,…
$ $Visual place recognition is challenging, especially when only a few place exemplars are given. To mitigate the challenge, we consider place recognition method using omnidirectional cameras and propose a novel Omnidirectional…
Across a majority of pedestrian detection datasets, it is typically assumed that pedestrians will be standing upright with respect to the image coordinate system. This assumption, however, is not always valid for many vision-equipped mobile…
The task of indoor positioning is fundamental to several applications, including navigation, healthcare, location-based services, and security. An emerging field is inertial navigation for pedestrians, which relies only on inertial sensors…
People who are blind perceive the world differently than those who are sighted, which can result in distinct motion characteristics. For instance, when crossing at an intersection, blind individuals may have different patterns of movement,…
Vision-Language Models (VLMs) have been shown to be blind, often underutilizing their visual inputs even on tasks that require visual reasoning. In this work, we demonstrate that VLMs are selectively blind. They modulate the amount of…
Virtual reality (VR) is an important new technology that is fun-damentally changing the way people experience entertainment and education content. Due to the fact that most currently available VR products are one size fits all, the…