Related papers: Coded Estimation: Design of Backscatter Array Code…
We consider a problem in which a source is encoded into N packets, an unknown number of which are subject to adversarial errors en route to the decoder. We seek code designs for which the decoder is guaranteed to be able to reproduce the…
The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…
Camera relocalization plays a vital role in many robotics and computer vision tasks, such as global localization, recovery from tracking failure, and loop closure detection. Recent random forests based methods directly predict 3D world…
Variants of accuracy and precision are the gold-standard by which the computer vision community measures progress of perception algorithms. One reason for the ubiquity of these metrics is that they are largely task-agnostic; we in general…
2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…
We present a motion planning algorithm for a class of uncertain control-affine nonlinear systems which guarantees runtime safety and goal reachability when using high-dimensional sensor measurements (e.g., RGB-D images) and a learned…
We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…
We consider the estimation distortion of a distributed sensing system with finite number of sensor nodes, in which the nodes observe a common phenomenon and transmit their observations to a fusion center over orthogonal channels. In…
Image segmentation and 3D pose estimation are two key cogs in any algorithm for scene understanding. However, state-of-the-art CRF-based models for image segmentation rely mostly on 2D object models to construct top-down high-order…
We construct error correcting codes for jointly transmitting a finite set of independent messages to an 'informed receiver' which has prior knowledge of the values of some subset of the messages as side information. The transmitter is…
We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…
Visual object counting is a fundamental computer vision task underpinning numerous real-world applications, from cell counting in biomedicine to traffic and wildlife monitoring. However, existing methods struggle to handle the challenge of…
3D hand-object pose estimation is an important issue to understand the interaction between human and environment. Current hand-object pose estimation methods require detailed 3D labels, which are expensive and labor-intensive. To tackle the…
6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…
This paper presents a method to estimate the 3D object position and occupancy given a set of object detections in multiple images and calibrated cameras. This problem is modelled as the estimation of a set of quadrics given 2D conics fit to…
We consider the task of estimating the 3D orientation of an object of known category given an image of the object and a bounding box around it. Recently, CNN-based regression and classification methods have shown significant performance…
Single particle 3D imaging with ultrashort X-ray laser pulses is based on collecting and combining the information content of 2D scattering patterns of an object at different orientations. Typical sample-delivery schemes leave little or no…
6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…
Recent advances in machine learning and hardware have produced embedded devices capable of performing real-time object detection with commendable accuracy. We consider a scenario in which embedded devices rely on an onboard object detector,…
A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…