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This paper proposes an enhancement to the ORB-SLAM3 algorithm, tailored for applications on rugged road surfaces. Our improved algorithm adeptly combines feature point matching with optical flow methods, capitalizing on the high robustness…
We study how the supporting hyperplanes produced by the projection process can complement the method of alternating projections and its variants for the convex set intersection problem. For the problem of finding the closest point in the…
Open-set object detection (OSOD) aims to detect the known categories and reject unknown objects in a dynamic world, which has achieved significant attention. However, previous approaches only consider this problem in data-abundant…
Grasp detection with consideration of the affiliations between grasps and their owner in object overlapping scenes is a necessary and challenging task for the practical use of the robotic grasping approach. In this paper, a robotic grasp…
High order correlations in the cosmic matter density have become increasingly valuable in cosmological analyses. However, computing such correlation functions is computationally expensive. We aim to circumvent these challenges by designing…
Sensor calibration usually is a time consuming yet important task. While classical approaches are sensor-specific and often need calibration targets as well as a widely overlapping field of view (FOV), within this work, a cooperative…
For a polyhedron $P$ in $\mathbb{R}^d$, denote by $|P|$ its combinatorial complexity, i.e., the number of faces of all dimensions of the polyhedra. In this paper, we revisit the classic problem of preprocessing polyhedra independently so…
Collision detection between two convex shapes is an essential feature of any physics engine or robot motion planner. It has often been tackled as a computational geometry problem, with the Gilbert, Johnson and Keerthi (GJK) algorithm being…
Salient object detection plays an important part in a vision system to detect important regions. Convolutional neural network (CNN) based methods directly train their models with large-scale datasets, but what is the crucial feature for…
Robust object detection for Unmanned Surface Vehicles (USVs) in complex water environments is essential for reliable navigation and operation. Specifically, water surface object detection faces challenges from blurred edges and diverse…
Detecting elliptical objects from an image is a central task in robot navigation and industrial diagnosis where the detection time is always a critical issue. Existing methods are hardly applicable to these real-time scenarios of limited…
Intersection detection between three-dimensional bodies has various applications in computer graphics, video game development, robotics as well as military industries. In some respects, entities do not want to disclose sensitive information…
A significant challenge in object detection is accurate identification of an object's position in image space, whereas one algorithm with one set of parameters is usually not enough, and the fusion of multiple algorithms and/or parameters…
Automatic segmentation of curvilinear objects in medical images plays an important role in the diagnosis and evaluation of human diseases, yet it is a challenging uncertainty in the complex segmentation tasks due to different issues such as…
Occlusion relationship reasoning demands closed contour to express the object, and orientation of each contour pixel to describe the order relationship between objects. Current CNN-based methods neglect two critical issues of the task: (1)…
Occlusion in face recognition is a common yet challenging problem. While sparse representation based classification (SRC) has been shown promising performance in laboratory conditions (i.e. noiseless or random pixel corrupted), it performs…
Optical flow estimation is an essential step for many real-world computer vision tasks. Existing deep networks have achieved satisfactory results by mostly employing a pyramidal coarse-to-fine paradigm, where a key process is to adopt…
Quantum Optical Coherence Tomography (Q-OCT) is the non-classical counterpart of Optical Coherence Tomography (OCT) - a high-resolution 3D imaging technique based on white-light interferometry. Because Q-OCT uses a source of…
In Cassini ISS (Imaging Science Subsystem) images, contour detection is often performed on disk-resolved object to accurately locate their center. Thus, the contour detection is a key problem. Traditional edge detection methods, such as…
A composite quadric model (CQM) is an object modeled by piecewise linear or quadric patches. We study the continuous detection problem of a special type of CQM objects which are commonly used in CAD/CAM, that is, the boundary surfaces of…