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We present a method that takes as input a set of images of a scene illuminated by unconstrained known lighting, and produces as output a 3D representation that can be rendered from novel viewpoints under arbitrary lighting conditions. Our…
Stand-alone Visual Place Recognition (VPR) systems have little defence against a well-designed adversarial attack, which can lead to disastrous consequences when deployed for robot navigation. This paper extensively analyzes the effect of…
In this paper, we present an accurate yet effective solution for 6D pose estimation from an RGB image. The core of our approach is that we first designate a set of surface points on target object model as keypoints and then train a keypoint…
Visual perimetry is an important eye examination that helps detect vision problems caused by ocular or neurological conditions. During the test, a patient's gaze is fixed at a specific location while light stimuli of varying intensities are…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
The rise of the Internet of Things (IoT) and mobile internet applications has spurred interest in location-based services (LBS) for commercial, military, and social applications. While the global positioning system (GPS) dominates outdoor…
The main focus of beam alignment is to find the optimal beam which yields the largest received signal strength (RSS) with faster speed.In this paper, we demonstrate an efficient beam alignment scheme with our testbed. The algorithm we…
For reliable operation, next generation autonomous agents will need enhanced situational perception as well as precise navigation capabilities. The global navigation satellite system (GNSS) signals that are utilized by practically all…
The detection of multiple curved lane markings on a non-flat road surface is still a challenging task for automotive applications. To make an improvement, the depth information can be used to greatly enhance the robustness of the lane…
We consider the robust Perspective-n-Point (PnP) problem using a hybrid approach that combines deep learning with model based algorithms. PnP is the problem of estimating the pose of a calibrated camera given a set of 3D points in the world…
Providing high data rates is one of the big concerns in visible light communication (VLC) systems. This paper introduces a data centre design that use a VLC system for downlink communication. In this work, RYGB laser diodes (LD) are used as…
We propose a novel learned keypoint detection method to increase the number of correct matches for the task of non-rigid image correspondence. By leveraging true correspondences acquired by matching annotated image pairs with a specified…
Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…
In this work, we present a novel data-driven method for robust 6DoF object pose estimation from a single RGBD image. Unlike previous methods that directly regressing pose parameters, we tackle this challenging task with a keypoint-based…
A method of information transmission using visual markers has been widely studied. In this approach, information or identifiers (IDs) are encoded in the black-and-white pattern of each marker. By analyzing the geometric properties of the…
We present a method to estimate lighting from a single image of an indoor scene. Previous work has used an environment map representation that does not account for the localized nature of indoor lighting. Instead, we represent lighting as a…
We propose and experimentally demonstrate a novel detection method that significantly improves the precision of real-time measurement of the three-dimensional displacement of a levitated dipolar scatterer. Our technique relies on spatial…
This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the three-dimensional position of a point of interest on the…
Modern deep learning-based 3D pose estimation approaches require plenty of 3D pose annotations. However, existing 3D datasets lack diversity, which limits the performance of current methods and their generalization ability. Although…
This paper considers an intelligent reflecting surface (IRS)-assisted bi-static localization architecture for the sixth-generation (6G) integrated sensing and communication (ISAC) network. The system consists of a transmit user, a receive…