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We present a novel end-to-end partially supervised deep learning approach for video anomaly detection and localization using only normal samples. The insight that motivates this study is that the normal samples can be associated with at…
The complementary fusion of light detection and ranging (LiDAR) data and image data is a promising but challenging task for generating high-precision and high-density point clouds. This study proposes an innovative LiDAR-guided stereo…
This paper proposes Neural-MMGS, a novel neural 3DGS framework for multimodal large-scale scene reconstruction that fuses multiple sensing modalities in a per-gaussian compact, learnable embedding. While recent works focusing on large-scale…
Methods for source detection in high noise environments are important for single-photon emission computed tomography (SPECT) medical imaging and especially crucial for homeland security applications, which is our main interest. In the…
Photorealistic reconstruction of street scenes is essential for developing real-world simulators in autonomous driving. While recent methods based on 3D/4D Gaussian Splatting (GS) have demonstrated promising results, they still encounter…
Although Global Navigation Satellite Systems (GNSS) provide a general solution for bike tracking outdoors, there still exist complex riding environments where only inertial navigation systems work, such as urban canyons. Despite decades of…
Next-generation wireless systems such as 6G operate at higher frequency bands, making signal propagation highly sensitive to environmental factors such as buildings and vege- tation. Accurate Radio Environment Map (REM) estimation is…
Background modelling is a fundamental step for several real-time computer vision applications that requires security systems and monitoring. An accurate background model helps detecting activity of moving objects in the video. In this work,…
High-precision vehicle positioning is key to the implementation of modern driving systems in urban environments. Global Navigation Satellite System (GNSS) carrier phase measurements can provide millimeter- to centimeter-level positioning,…
Reliable dynamic object detection in cluttered environments remains a critical challenge for autonomous navigation. Purely geometric LiDAR pipelines that rely on clustering and heuristic filtering can miss dynamic obstacles when they move…
The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object…
Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…
Gaussian Mixture Models are one of the most studied and mature models in unsupervised learning. However, outliers are often present in the data and could influence the cluster estimation. In this paper, we study a new model that assumes…
Reliable obstacle detection and classification in rough and unstructured terrain such as agricultural fields or orchards remains a challenging problem. These environments involve large variations in both geometry and appearance, challenging…
Latent Gaussian models (LGMs) are perhaps the most commonly used class of models in statistical applications. Nevertheless, in areas ranging from longitudinal studies in biostatistics to geostatistics, it is easy to find datasets that…
Complete and textured 3D reconstruction of dynamic scenes has been facilitated by mapped RGB and depth information acquired by RGB-D cameras based multi-view systems. One of the most critical steps in such multi-view systems is to determine…
In this work, a deep learning approach has been developed to carry out road detection by fusing LIDAR point clouds and camera images. An unstructured and sparse point cloud is first projected onto the camera image plane and then upsampled…
Reliable and accurate lane detection has been a long-standing problem in the field of autonomous driving. In recent years, many approaches have been developed that use images (or videos) as input and reason in image space. In this paper we…
Camera-based 3D object detection and tracking are central to autonomous driving, yet precise 3D object localization remains fundamentally constrained by depth ambiguity when no expensive, depth-rich online LiDAR is available at inference.…
In a context of 3D mapping, it is very important to get accurate measurements from sensors. In particular, Light Detection And Ranging (LIDAR) measurements are typically treated as a zero-mean Gaussian distribution. We show that this…