Related papers: PLG-IN: Pluggable Geometric Consistency Loss with …
Monocular 3D object detection (Mono3D) in mobile settings (e.g., on a vehicle, a drone, or a robot) is an important yet challenging task. Due to the near-far disparity phenomenon of monocular vision and the ever-changing camera pose, it is…
Sliced Wasserstein distances preserve properties of classic Wasserstein distances while being more scalable for computation and estimation in high dimensions. The goal of this work is to quantify this scalability from three key aspects: (i)…
Quantification of uncertainty in point cloud matching is critical in many tasks such as pose estimation, sensor fusion, and grasping. Iterative closest point (ICP) is a commonly used pose estimation algorithm which provides a point estimate…
Multilook coherent imaging is a widely used technique in applications such as digital holography, ultrasound imaging, and synthetic aperture radar. A central challenge in these systems is the presence of multiplicative noise, commonly known…
This paper tackles the challenges of self-supervised monocular depth estimation in indoor scenes caused by large rotation between frames and low texture. We ease the learning process by obtaining coarse camera poses from monocular sequences…
Existing deep learning-based full-reference IQA (FR-IQA) models usually predict the image quality in a deterministic way by explicitly comparing the features, gauging how severely distorted an image is by how far the corresponding feature…
Estimating metric relative camera pose from a pair of images is of great importance for 3D reconstruction and localisation. However, conventional two-view pose estimation methods are not metric, with camera translation known only up to a…
We address the problem of computing a textural loss based on the statistics extracted from the feature activations of a convolutional neural network optimized for object recognition (e.g. VGG-19). The underlying mathematical problem is the…
Multi-view depth estimation methods typically require the computation of a multi-view cost-volume, which leads to huge memory consumption and slow inference. Furthermore, multi-view matching can fail for texture-less surfaces, reflective…
Self-supervised monocular depth estimation has seen significant progress in recent years, especially in outdoor environments. However, depth prediction results are not satisfying in indoor scenes where most of the existing data are captured…
In this work, we propose computational models and algorithms for point cloud registration with non-rigid transformation. First, point clouds sampled from manifolds originally embedded in some Euclidean space $\mathbb{R}^D$ are transformed…
Depth estimation from a single image is an active research topic in computer vision. The most accurate approaches are based on fully supervised learning models, which rely on a large amount of dense and high-resolution (HR) ground-truth…
Self-supervised deep learning methods have leveraged stereo images for training monocular depth estimation. Although these methods show strong results on outdoor datasets such as KITTI, they do not match performance of supervised methods on…
The field of monocular depth estimation is continually evolving with the advent of numerous innovative models and extensions. However, research on monocular depth estimation methods specifically for underwater scenes remains limited,…
Recent research has highlighted the utility of Planar Parallax Geometry in monocular depth estimation. However, its potential has yet to be fully realized because networks rely heavily on appearance for depth prediction. Our in-depth…
Recently, 3D Gaussian Splatting has emerged as a prominent research direction owing to its ultrarapid training speed and high-fidelity rendering capabilities. However, the unstructured and irregular nature of Gaussian point clouds poses…
Cross-view Geo-localisation is typically performed at a coarse granularity, because densely sampled satellite image patches overlap heavily. This heavy overlap would make disambiguating patches very challenging. However, by opting for…
Gaussian mixture models (GMMs) are widely used in machine learning for tasks such as clustering, classification, image reconstruction, and generative modeling. A key challenge in working with GMMs is defining a computationally efficient and…
The process of camera calibration involves estimating the intrinsic and extrinsic parameters, which are essential for accurately performing tasks such as 3D reconstruction, object tracking and augmented reality. In this work, we propose a…
In this work we study the mutual benefits of two common computer vision tasks, self-supervised depth estimation and semantic segmentation from images. For example, to help unsupervised monocular depth estimation, constraints from semantic…