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Robust perception is a vital component for ensuring safe autonomous and assisted driving. Automotive radar (77 to 81 GHz), which offers weather-resilient sensing, provides a complementary capability to the vision- or LiDAR-based autonomous…
We introduce Neural Deformation Graphs for globally-consistent deformation tracking and 3D reconstruction of non-rigid objects. Specifically, we implicitly model a deformation graph via a deep neural network. This neural deformation graph…
Visual-inertial localization is a key problem in computer vision and robotics applications such as virtual reality, self-driving cars, and aerial vehicles. The goal is to estimate an accurate pose of an object when either the environment or…
This paper investigates the problem of recovering hyperspectral (HS) images from single RGB images. To tackle such a severely ill-posed problem, we propose a physically-interpretable, compact, efficient, and end-to-end learning-based…
In this paper, we tackle the problem of grasping transparent and specular objects. This issue holds importance, yet it remains unsolved within the field of robotics due to failure of recover their accurate geometry by depth cameras. For the…
A low-resolution digital surface model (DSM) features distinctive attributes impacted by noise, sensor limitations and data acquisition conditions, which failed to be replicated using simple interpolation methods like bicubic. This causes…
This paper proposes 3DGeoDet, a novel geometry-aware 3D object detection approach that effectively handles single- and multi-view RGB images in indoor and outdoor environments, showcasing its general-purpose applicability. The key challenge…
Detecting and localizing objects in the real 3D space, which plays a crucial role in scene understanding, is particularly challenging given only a single RGB image due to the geometric information loss during imagery projection. We propose…
As a mature technology, Ground Penetration Radar (GPR) is now widely employed in detecting rebar and other embedded elements in concrete structures. Manually recognizing rebar from GPR data is a time-consuming and error-prone procedure.…
The quick and accurate retrieval of an object height from a single fringe pattern in Fringe Projection Profilometry has been a topic of ongoing research. While a single shot fringe to depth CNN based method can restore height map directly…
Computer representations of three-dimensional (3D) geometries are crucial for simulating systems and processes in engineering and science. In medicine, and more specifically, biomechanics and orthopaedics, obtaining and using 3D geometries…
We propose R3GS, a robust reconstruction and relocalization framework tailored for unconstrained datasets. Our method uses a hybrid representation during training. Each anchor combines a global feature from a convolutional neural network…
We propose Deep-Motion-Net: an end-to-end graph neural network (GNN) architecture that enables 3D (volumetric) organ shape reconstruction from a single in-treatment kV planar X-ray image acquired at any arbitrary projection angle.…
Cross-view geo-localization aims to spot images of the same location shot from two platforms, e.g., the drone platform and the satellite platform. Existing methods usually focus on optimizing the distance between one embedding with others…
Automated three-dimensional (3D) object reconstruction is the task of building a geometric representation of a physical object by means of sensing its surface. Even though new single view reconstruction techniques can predict the surface,…
Reconstructing an accurate 3D object model from a few image observations remains a challenging problem in computer vision. State-of-the-art approaches typically assume accurate camera poses as input, which could be difficult to obtain in…
Reconstruction-based methods are widely explored in industrial visual anomaly detection. Such methods commonly require the model to well reconstruct the normal patterns but fail in the anomalies, and thus the anomalies can be detected by…
This paper shows the effectiveness of 2D backbone scaling and pretraining for pillar-based 3D object detectors. Pillar-based methods mainly employ randomly initialized 2D convolution neural network (ConvNet) for feature extraction and fail…
Object shape provides important information for robotic manipulation; for instance, selecting an effective grasp depends on both the global and local shape of the object of interest, while reaching into clutter requires accurate surface…
In this paper we present a novel radar-camera sensor fusion framework for accurate object detection and distance estimation in autonomous driving scenarios. The proposed architecture uses a middle-fusion approach to fuse the radar point…