Related papers: LFTag: A Scalable Visual Fiducial System with Low …
Vision--Language--Action (VLA) policies have shown strong progress in mapping language instructions and visual observations to robotic actions, yet their reliability degrades in cluttered scenes with distractors. By analyzing failure cases,…
Fiducial marker positions in projection image of cone-beam computed tomography (CBCT) scans have been studied to evaluate daily residual motion during breath-hold radiation therapy. Fiducial marker migration posed challenges in accurately…
Situational Graphs (S-Graphs) merge geometric models of the environment generated by Simultaneous Localization and Mapping (SLAM) approaches with 3D scene graphs into a multi-layered jointly optimizable factor graph. As an advantage,…
A novel relative localization approach for guidance of a micro-scale Unmanned Aerial Vehicle (UAV) by a well-equipped aerial robot fusing Visual-Inertial Odometry (VIO) with Light Detection and Ranging (LiDAR) is proposed in this paper.…
Accurate and robust pose estimation plays a crucial role in many robotic systems. Popular algorithms for pose estimation typically rely on high-fidelity and high-frequency signals from various sensors. Inclusion of these sensors makes the…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
Local feature matching is an essential technique in image matching and plays a critical role in a wide range of vision-based applications. However, existing Transformer-based detector-free local feature matching methods encounter challenges…
The use of local detectors and descriptors in typical computer vision pipelines work well until variations in viewpoint and appearance change become extreme. Past research in this area has typically focused on one of two approaches to this…
Face detection, as a fundamental technology for various applications, is always deployed on edge devices which have limited memory storage and low computing power. This paper introduces a Light and Fast Face Detector (LFFD) for edge…
Longitudinal low-dose CT follow-ups vary in noise, reconstruction kernels, and registration quality. These differences destabilize subtraction images and can trigger false new lesion alarms. We present TopoGate, a lightweight model that…
Millimeter wave sensing has recently attracted a lot of attention given its environmental robust nature. In situations where visual sensors like cameras fail to perform, mmwave radars can be used to achieve reliable performance. However,…
Monocular 3D Visual Grounding (Mono3DVG) is an emerging task that locates 3D objects in RGB images using text descriptions with geometric cues. However, existing methods face two key limitations. Firstly, they often over-rely on…
We propose a technique to develop (and localize in) topological maps from light detection and ranging (Lidar) data. Localizing an autonomous vehicle with respect to a reference map in real-time is crucial for its safe operation. Owing to…
This paper presents a method for carrying fair comparisons of the accuracy of pose estimation using fiducial markers. These comparisons rely on large sets of high-fidelity synthetic images enabling deep exploration of the 6 degrees of…
Purpose: Implanted fiducial markers are often used in radiotherapy to facilitate accurate visualization and localization of tumors. Typically, such markers are used to aid daily patient positioning and to verify the target's position during…
This paper is about extremely robust and lightweight localisation using LiDAR point clouds based on instance segmentation and graph matching. We model 3D point clouds as fully-connected graphs of semantically identified components where…
This paper presents a system for robust, large-scale topological localisation using Frequency-Modulated Continuous-Wave (FMCW) scanning radar. We learn a metric space for embedding polar radar scans using CNN and NetVLAD architectures…
The Long-Range (LoRa) protocol, known for its extensive range and low power, has increasingly been adopted in tags worn by mentally incapacitated persons (MIPs) and others at risk of going missing. We study the sequential decision-making…
Visual Grounding (VG) aims to locate the most relevant region in an image, based on a flexible natural language query but not a pre-defined label, thus it can be a more useful technique than object detection in practice. Most…
Visual odometry is an essential key for a localization module in SLAM systems. However, previous methods require tuning the system to adapt environment changes. In this paper, we propose a learning-based approach for frame-to-frame…