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We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…

Robots often rely on RGB images for tasks like manipulation and navigation. However, reliable interaction typically requires a 3D scene representation that is metric-scaled and aligned with the robot reference frame. This depends on…

Light field cameras can capture both spatial and angular information of light rays, enabling 3D reconstruction by a single exposure. The geometry of 3D reconstruction is affected by intrinsic parameters of a light field camera…

6D pose estimation is a central problem in robot vision. Compared with pose estimation based on point correspondences or its robust versions, correspondence-free methods are often more flexible. However, existing correspondence-free methods…

State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…

In this paper, we present a novel, learning-based, two-step super-resolution (SR) algorithm well suited to solve the specially demanding problem of obtaining SR estimates from short image sequences. The first step, devoted to increase the…

The task of camera calibration is to estimate the intrinsic and extrinsic parameters of a camera model. Though there are some restricted techniques to infer the 3-D information about the scene from uncalibrated cameras, effective camera…

3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Manufacturing requires reliable object detection methods for precise picking and handling of diverse types of manufacturing parts and components. Traditional object detection methods utilize either only 2D images from cameras or 3D data…

Plenoptic cameras enable the capturing of spatial as well as angular color information which can be used for various applications among which are image refocusing and depth calculations. However, these cameras are expensive and research in…

We consider the task of re-calibrating the 3D pose of a static surveillance camera, whose pose may change due to external forces, such as birds, wind, falling objects or earthquakes. Conventionally, camera pose estimation can be solved with…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

The large amount of data collected by LiDAR sensors brings the issue of LiDAR point cloud compression (PCC). Previous works on LiDAR PCC have used range image representations and followed the predictive coding paradigm to create a basic…

Recovering a 3D surface from its surface normal map, a problem known as normal integration, is a key component for photometric shape reconstruction techniques such as shape-from-shading and photometric stereo. The vast majority of existing…

Synthetic aperture radar has the ability to work 24/7 and 24/7, and has high application value. Propose a new SAR image matching algorithm based on multi class features, mainly using two different types of features: straight lines and…

We propose a PnP algorithm for a camera constrained to two-dimensional motion (applicable, for instance, to many wheeled robotics platforms). Leveraging this assumption allows accuracy and performance improvements over 3D PnP algorithms due…

In this paper, we present a novel linear algorithm to estimate the 6 DoF relative pose from consecutive frames of stereo rolling shutter (RS) cameras. Our method is derived based on the assumption that stereo cameras undergo motion with…

Camera, and associated with its objects within the field of view, localization could benefit many computer vision fields, such as autonomous driving, robot navigation, and augmented reality (AR). In this survey, we first introduce specific…

Rotating Synthetic Aperture Radar (ROSAR) can generate a 360$^\circ$ image of its surrounding environment using the collected data from a single moving track. Due to its non-linear track, the Back-Projection Algorithm (BPA) is commonly used…