Related papers: Transformer Guided Geometry Model for Flow-Based U…

We present FLARE, a feed-forward model designed to infer high-quality camera poses and 3D geometry from uncalibrated sparse-view images (i.e., as few as 2-8 inputs), which is a challenging yet practical setting in real-world applications.…

The wide spread use of positioning and photographing devices gives rise to a deluge of traffic trajectory data (e.g., vehicle passage records and taxi trajectory data), with each record having at least three attributes: object ID, location…

We introduced Temporally Incremental Disparity Estimation Network (TIDE-Net), a learning-based technique for disparity computation in mono-camera structured light systems. In our hardware setting, a static pattern is projected onto a…

We introduce ZeroVO, a novel visual odometry (VO) algorithm that achieves zero-shot generalization across diverse cameras and environments, overcoming limitations in existing methods that depend on predefined or static camera calibration…

Human pose estimation (HPE) usually requires large-scale training data to reach high performance. However, it is rather time-consuming to collect high-quality and fine-grained annotations for human body. To alleviate this issue, we revisit…

Egocentric pose estimation is a fundamental capability for multi-robot collaborative perception in connected autonomy, such as connected autonomous vehicles. During multi-robot operations, a robot needs to know the relative pose between…

Unsupervised image-to-image translation aims at learning a mapping between two visual domains. However, learning a translation across large geometry variations always ends up with failure. In this work, we present a novel…

Real-time efficient perception is critical for autonomous navigation and city scale sensing. Orthogonal to architectural improvements, streaming perception approaches have exploited adaptive sampling improving real-time detection…

For the task of simultaneous monocular depth and visual odometry estimation, we propose learning self-supervised transformer-based models in two steps. Our first step consists in a generic pretraining to learn 3D geometry, using cross-view…

In this work, we propose a framework whereby flow imaging data is leveraged to extract relevant information from flowfield visualizations. To this end, a vision transformer (ViT) model is developed to predict the unsteady pressure…

We introduce optical Flow transFormer, dubbed as FlowFormer, a transformer-based neural network architecture for learning optical flow. FlowFormer tokenizes the 4D cost volume built from an image pair, encodes the cost tokens into a cost…

The state-of-the-art for monocular 3D human pose estimation in videos is dominated by the paradigm of 2D-to-3D pose uplifting. While the uplifting methods themselves are rather efficient, the true computational complexity depends on the…

In this paper, we efficiently transfer the surpassing representation power of the vision foundation models, such as ViT and Swin, for video understanding with only a few trainable parameters. Previous adaptation methods have simultaneously…

Transformers have emerged as a universal backbone across 3D perception, video generation, and world models for autonomous driving and embodied AI, where understanding camera geometry is essential for grounding visual observations in…

This paper proposes a new and efficient method to estimate 6-DoF ego-states: attitudes and positions in real time. The proposed method extract information of ego-states by observing a feature called "TROVE" (Three Rays and One VErtex).…

Optical flow is an indispensable building block for various important computer vision tasks, including motion estimation, object tracking, and disparity measurement. In this work, we propose TransFlow, a pure transformer architecture for…

Generative reconstruction methods compute the 3D configuration (such as pose and/or geometry) of a shape by optimizing the overlap of the projected 3D shape model with images. Proper handling of occlusions is a big challenge, since the…

High-precision vehicle localization with commercial setups is a crucial technique for high-level autonomous driving tasks. Localization with a monocular camera in LiDAR map is a newly emerged approach that achieves promising balance between…

This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…

Previous methods solve feature matching and pose estimation using a two-stage process by first finding matches and then estimating the pose. As they ignore the geometric relationships between the two tasks, they focus on either improving…