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Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…
In the last few years, deep neural networks opened the doors for big advances in novel view synthesis. Many of these approaches are based on a (coarse) proxy geometry obtained by structure from motion algorithms. Small deficiencies in this…
We propose a new method to analyze the impact of errors in algorithms for multi-instance pose estimation and a principled benchmark that can be used to compare them. We define and characterize three classes of errors - localization,…
With the rapid development of 3D vision applications based on point clouds, point cloud quality assessment(PCQA) is becoming an important research topic. However, the prior PCQA methods ignore the effect of local quality variance across…
Image-based localization is a core component of many augmented/mixed reality (AR/MR) and autonomous robotic systems. Current localization systems rely on the persistent storage of 3D point clouds of the scene to enable camera pose…
Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…
During the compression, transmission, and rendering of point clouds, various artifacts are introduced, affecting the quality perceived by the end user. However, evaluating the impact of these distortions on the overall quality is a…
In robotics perception, numerous tasks rely on point cloud registration. However, currently there is no method that can automatically detect misaligned point clouds reliably and without environment-specific parameters. We propose "CorAl",…
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…
Panoramic imagery, with its 360{\deg} field of view, offers comprehensive information to support Multi-Object Tracking (MOT) in capturing spatial and temporal relationships of surrounding objects. However, most MOT algorithms are tailored…
State-of-the-art 3D point cloud registration methods rely on labeled 3D datasets for training, which limits their practical applications in real-world scenarios and often hinders generalization to unseen scenes. Leveraging the zero-shot…
Obtaining accurate 3D object poses is vital for numerous computer vision applications, such as 3D reconstruction and scene understanding. However, annotating real-world objects is time-consuming and challenging. While synthetically…
The task of 3D single object tracking (SOT) with LiDAR point clouds is crucial for various applications, such as autonomous driving and robotics. However, existing approaches have primarily relied on appearance matching or motion modeling…
3D multi-object tracking (MOT) is vital for many applications including autonomous driving vehicles and service robots. With the commonly used tracking-by-detection paradigm, 3D MOT has made important progress in recent years. However,…
To help smart wearable researchers choose the optimal ground truth methods for motion capturing (MoCap) for all types of loose garments, we present a benchmark, DrapeMoCapBench (DMCB), specifically designed to evaluate the performance of…
In this work, we tackle the problem of category-level online pose tracking of objects from point cloud sequences. For the first time, we propose a unified framework that can handle 9DoF pose tracking for novel rigid object instances as well…
3D Multi-Object Tracking (MOT) captures stable and comprehensive motion states of surrounding obstacles, essential for robotic perception. However, current 3D trackers face issues with accuracy and latency consistency. In this paper, we…
Geometry quality assessment (GQA) of colorless point clouds is crucial for evaluating the performance of emerging point cloud-based solutions (e.g., watermarking, compression, and 3-Dimensional (3D) reconstruction). Unfortunately, existing…
Compared with real-time multi-object tracking (MOT), offline multi-object tracking (OMOT) has the advantages to perform 2D-3D detection fusion, erroneous link correction, and full track optimization but has to deal with the challenges from…
This paper presents a novel approach for local 3D environment representation for autonomous unmanned ground vehicle (UGV) navigation called On Visible Point Clouds Mesh(OVPC Mesh). Our approach represents the surrounding of the robot as a…