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Real-time efficient perception is critical for autonomous navigation and city scale sensing. Orthogonal to architectural improvements, streaming perception approaches have exploited adaptive sampling improving real-time detection…
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from…
Event cameras are an interesting visual exteroceptive sensor that reacts to brightness changes rather than integrating absolute image intensities. Owing to this design, the sensor exhibits strong performance in situations of challenging…
This bachelor's thesis describes the conception and implementation of an augmented reality application for the Android platform. The intention is to demonstrate some possibilities of interaction within an augmented reality environment on…
This paper explores a pragmatic approach to multiple object tracking where the main focus is to associate objects efficiently for online and realtime applications. To this end, detection quality is identified as a key factor influencing…
Interactions play a key role in understanding objects and scenes, for both virtual and real world agents. We introduce a new general representation for proximal interactions among physical objects that is agnostic to the type of objects or…
Handheld Augmented Reality commonly implements some variant of magic lens rendering, which turns only a fraction of the user's real environment into AR while the rest of the environment remains unaffected. Since handheld AR devices are…
An accurate understanding of omnidirectional environment lighting is crucial for high-quality virtual object rendering in mobile augmented reality (AR). In particular, to support reflective rendering, existing methods have leveraged deep…
Augmented Reality (AR) applications necessitates methods of inserting needed objects into scenes captured by cameras in a way that is coherent with the surroundings. Common AR applications require the insertion of predefined 3D objects with…
In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…
We tackle the problem of exploiting Radar for perception in the context of self-driving as Radar provides complementary information to other sensors such as LiDAR or cameras in the form of Doppler velocity. The main challenges of using…
Visual localization under large changes in scale is an important capability in many robotic mapping applications, such as localizing at low altitudes in maps built at high altitudes, or performing loop closure over long distances. Existing…
As smart homes become more prevalent in daily life, the ability to understand dynamic environments is essential which is increasingly dependent on AI systems. This study focuses on developing an intelligent algorithm which can navigate a…
Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…
In this paper, we analyze some of our real-world deployment of face recognition (FR) systems for various applications and discuss the gaps between expectations of the user and what the system can deliver. We evaluate some of our proposed…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
To operate in an urban environment, an automated vehicle must be capable of accurately estimating its position within a global map reference frame. This is necessary for optimal path planning and safe navigation. To accomplish this over an…
Multi-camera tracking systems are gaining popularity in applications that demand high-quality tracking results, such as frictionless checkout because monocular multi-object tracking (MOT) systems often fail in cluttered and crowded…
Real-time rendering of dynamic line sets is relevant in many visualization tasks, including unsteady flow visualization and interactive white matter reconstruction from Magnetic Resonance Imaging. High-quality global illumination and…
Motivated by augmented and virtual reality applications such as telepresence, there has been a recent focus in real-time performance capture of humans under motion. However, given the real-time constraint, these systems often suffer from…