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Background: Recent studies have indicated that functional connectivity is dynamic even during rest. A common approach to modeling the dynamic functional connectivity in whole-brain resting-state fMRI is to compute the correlation between…
We present DenseRaC, a novel end-to-end framework for jointly estimating 3D human pose and body shape from a monocular RGB image. Our two-step framework takes the body pixel-to-surface correspondence map (i.e., IUV map) as proxy…
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…
Simultaneous Localization and Mapping (SLAM) with dense representation plays a key role in robotics, Virtual Reality (VR), and Augmented Reality (AR) applications. Recent advancements in dense representation SLAM have highlighted the…
The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of…
This paper is about 3D pose estimation on LiDAR scans with extremely minimal storage requirements to enable scalable mapping and localisation. We achieve this by clustering all points of segmented scans into semantic objects and…
Simultaneous localization and mapping (SLAM) methods need to both solve the data association (DA) problem and the joint estimation of the sensor trajectory and the map, conditioned on a DA. In this paper, we propose a novel integrated…
Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…
Human-centric explainability of AI-based Decision Support Systems (DSS) using visual input modalities is directly related to reliability and practicality of such algorithms. An otherwise accurate and robust DSS might not enjoy trust of…
This paper revisits the fundamental mathematics of Taylor series to approximate curves with function representation and arc-length-based parametric representation. Parametric representation is shown to preserve its form in coordinate…
Fitting model parameters to a set of noisy data points is a common problem in computer vision. In this work, we fit the 6D camera pose to a set of noisy correspondences between the 2D input image and a known 3D environment. We estimate…
Precise and long-term stable localization is essential in parking lots for tasks like autonomous driving or autonomous valet parking, \textit{etc}. Existing methods rely on a fixed and memory-inefficient map, which lacks robust data…
We propose Comprehensive Robust Dynamic Mode Decomposition (CR-DMD), a novel framework that robustifies the entire DMD process - from mode extraction to dimensional reduction - against mixed noise. Although standard DMD widely used for…
Visual Localization is an essential component in autonomous navigation. Existing approaches are either based on the visual structure from SLAM/SfM or the geometric structure from dense mapping. To take the advantages of both, in this work,…
Deep reinforcement learning (RL), where the agent learns from mistakes, has been successfully applied to a variety of tasks. With the aim of learning collision-free policies for unmanned vehicles, deep RL has been used for training with…
Recent work in Deep Learning has re-imagined the representation of data as functions mapping from a coordinate space to an underlying continuous signal. When such functions are approximated by neural networks this introduces a compelling…
Sequential location recommendation plays a huge role in modern life, which can enhance user experience, bring more profit to businesses and assist in government administration. Although methods for location recommendation have evolved…
This paper investigates discrete and continuous speech representations in Large Language Model (LLM)-based Automatic Speech Recognition (ASR), organizing them by feature continuity and training approach into four categories: supervised and…
Delayed and partially observable state information poses significant challenges for reinforcement learning (RL)-based control in real-world autonomous driving. In highway on-ramp merging, a roadside unit (RSU) can sense nearby traffic,…
Accurate localization and mapping in outdoor environments remains challenging when using consumer-grade hardware, particularly with rolling-shutter cameras and low-precision inertial navigation systems (INS). We present a novel semantic…