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Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…
While head-mounted devices are becoming more compact, they provide egocentric views with significant self-occlusions of the device user. Hence, existing methods often fail to accurately estimate complex 3D poses from egocentric views. In…
Robots operating in open, unstructured real-world environments must rely on onboard visual perception while autonomously moving across different locations. Continuous changes in onboard camera viewpoints cause significant visual scale…
With the advent of new technologies, Augmented Reality (AR) has become an effective tool in remote collaboration. Narrow field-of-view (FoV) and motion blur can offer an unpleasant experience with limited cognition for remote viewers of AR…
Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under…
We present STaR, a novel method that performs Self-supervised Tracking and Reconstruction of dynamic scenes with rigid motion from multi-view RGB videos without any manual annotation. Recent work has shown that neural networks are…
Camera virtualization -- an emerging solution to novel view synthesis -- holds transformative potential for visual entertainment, live performances, and sports broadcasting by enabling the generation of photorealistic images from novel…
Robotic avatars promise immersive teleoperation with human-like manipulation and communication capabilities. We present such an avatar system, based on the key components of immersive 3D visualization and transparent force-feedback…
Objective: The computation of anatomical information and laparoscope position is a fundamental block of surgical navigation in Minimally Invasive Surgery (MIS). Recovering a dense 3D structure of surgical scene using visual cues remains a…
We propose a new method for realistic real-time novel-view synthesis (NVS) of large scenes. Existing neural rendering methods generate realistic results, but primarily work for small scale scenes (<50 square meters) and have difficulty at…
3D object detection is essential for autonomous systems, enabling precise localization and dimension estimation. While LiDAR and RGB cameras are widely used, their fixed frame rates create perception gaps in high-speed scenarios. Event…
This paper presents a novel telepresence system for enhancing aerial manipulation capabilities. It involves not only a haptic device, but also a virtual reality that provides a 3D visual feedback to a remotely-located teleoperator in…
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…
Teleoperation provides human operator sophisticated perceptual and cognitive skills into an over the network control loop. It gives hope of addressing some challenges related to vehicular autonomy which is based on artificial intelligence…
Robot teleoperation is critical for applications such as remote maintenance, fleet robotics, search and rescue, and data collection for robot learning. Effective teleoperation requires intuitive 3D visualization with reliable depth cues,…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
With the development of computer vision, visual odometry is adopted by more and more mobile robots. However, we found that not only its own pose, but the poses of other moving objects are also crucial for the decision of the robot. In…
The advent of telemedicine represents a transformative development in leveraging technology to extend the reach of specialized medical expertise to remote surgeries, a field where the immediacy of expert guidance is paramount. However, the…
Challenging to capture, and challenging to display on a cellphone screen, the panorama paradoxically remains both a staple and underused feature of modern mobile camera applications. In this work we address both of these challenges with a…
Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle state estimation tasks involving motion blur and high…