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Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

Convolutional Neural Networks (CNNs) have recently been shown to excel at performing visual place recognition under changing appearance and viewpoint. Previously, place recognition has been improved by intelligently selecting relevant…

We address the problem of ground-to-satellite image geo-localization, that is, estimating the camera latitude, longitude and orientation (azimuth angle) by matching a query image captured at the ground level against a large-scale database…

Traditional Scene Understanding problems such as Object Detection and Semantic Segmentation have made breakthroughs in recent years due to the adoption of deep learning. However, the former task is not able to localise objects at a pixel…

In this paper, we propose a method using the fusion of CNN and transformer structure to improve image classification performance. In the case of CNN, information about a local area on an image can be extracted well, but there is a limit to…

Image segmentation and 3D pose estimation are two key cogs in any algorithm for scene understanding. However, state-of-the-art CRF-based models for image segmentation rely mostly on 2D object models to construct top-down high-order…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

Fast and robust hand segmentation and tracking is an essential basis for gesture recognition and thus an important component for contact-less human-computer interaction (HCI). Hand gesture recognition based on 2D video data has been…

Recently, it is increasingly popular to equip mobile RGB cameras with Time-of-Flight (ToF) sensors for active depth sensing. However, for off-the-shelf ToF sensors, one must tackle two problems in order to obtain high-quality depth with…

Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…

We introduce a method to classify imagery using a convo- lutional neural network (CNN) on multi-view image pro- jections. The power of our method comes from using pro- jections of multiple images at multiple depth planes near the…

Time-of-Flight (ToF) cameras possess compact design and high measurement precision to be applied to various robot tasks. However, their limited sensing range restricts deployment in large-scale scenarios. Depth completion has emerged as a…

Object detection systems based on the deep convolutional neural network (CNN) have recently made ground- breaking advances on several object detection benchmarks. While the features learned by these high-capacity neural networks are…

Interest point descriptors have fueled progress on almost every problem in computer vision. Recent advances in deep neural networks have enabled task-specific learned descriptors that outperform hand-crafted descriptors on many problems. We…

Autonomous vehicles and robots require a full scene understanding of the environment to interact with it. Such a perception typically incorporates pixel-wise knowledge of the depths and semantic labels for each image from a video sensor.…

CNNs have made a tremendous impact on the field of computer vision in the last several years. The main component of any CNN architecture is the convolution operation, which is translation invariant by design. However, location in itself can…

Temporal action localization is an important task of computer vision. Though many methods have been proposed, it still remains an open question how to predict the temporal location of action segments precisely. Most state-of-the-art works…

Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…

In the pursuit of identifying rare two-particle events within the GADGET II Time Projection Chamber (TPC), this paper presents a comprehensive approach for leveraging Convolutional Neural Networks (CNNs) and various data processing methods.…

Perception of traversable regions and objects of interest from a 3D point cloud is one of the critical tasks in autonomous navigation. A ground vehicle needs to look for traversable terrains that are explorable by wheels. Then, to make safe…