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Computational methods to accelerate natural disaster response include change detection, map alignment, and vision-aided navigation. Current software functions optimally only on near-nadir images, though off-nadir images are often the first…

With the growing interest in on On-orbit servicing (OOS) and Active Debris Removal (ADR) missions, spacecraft poses estimation algorithms are being developed using deep learning to improve the precision of this complex task and find the…

We propose a method for human pose estimation based on Deep Neural Networks (DNNs). The pose estimation is formulated as a DNN-based regression problem towards body joints. We present a cascade of such DNN regressors which results in high…

Automated segmentation plays a pivotal role in medical image analysis and computer-assisted interventions. Despite the promising performance of existing methods based on convolutional neural networks (CNNs), they neglect useful equivariant…

Terrain relative navigation can improve the precision of a spacecraft's position estimate by detecting global features that act as supplementary measurements to correct for drift in the inertial navigation system. This paper presents a…

Estimating ego-pose from cameras is an important problem in robotics with applications ranging from mobile robotics to augmented reality. While SOTA models are becoming increasingly accurate, they can still be unwieldy due to high…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

Automated 3D pose estimation of satellites and other known space objects is a critical component of space situational awareness. Ground-based imagery offers a convenient data source for satellite characterization; however, analysis…

In obstetric ultrasound (US) scanning, the learner's ability to mentally build a three-dimensional (3D) map of the fetus from a two-dimensional (2D) US image represents a significant challenge in skill acquisition. We aim to build a US…

In the field of visual ego-motion estimation for Micro Air Vehicles (MAVs), fast maneuvers stay challenging mainly because of the big visual disparity and motion blur. In the pursuit of higher robustness, we study convolutional neural…

In Mobile Manipulation, selecting an optimal mobile base pose is essential for successful object grasping. Previous works have addressed this problem either through classical planning methods or by learning state-based policies. They assume…

This paper addresses the problem of position estimation in UAVs operating in a cluttered environment where GPS information is unavailable. A model learning-based approach is proposed that takes in the rotor RPMs and past state as input and…

Virtually all aspects of modern life depend on space technology. Thanks to the great advancement of computer vision in general and deep learning-based techniques in particular, over the decades, the world witnessed the growing use of deep…

We propose a method SPGNet for 3D human pose estimation that mixes multi-dimensional re-projection into supervised learning. In this method, the 2D-to-3D-lifting network predicts the global position and coordinates of the 3D human pose.…

Homography estimation between multiple aerial images can provide relative pose estimation for collaborative autonomous exploration and monitoring. The usage on a robotic system requires a fast and robust homography estimation algorithm. In…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

State-of-the-art computer vision algorithms often achieve efficiency by making discrete choices about which hypotheses to explore next. This allows allocation of computational resources to promising candidates, however, such decisions are…

Convolutional Neural Networks are widely used to process spatial scenes, but their computational cost is fixed and depends on the structure of the network used. There are methods to reduce the cost by compressing networks or varying its…

Ultrasound imaging is widely used in clinical practice due to its cost-effectiveness, mobility, and safety. However, current AI research often treats disease prediction and tissue segmentation as two separate tasks and their model requires…

The effective use of computer vision and machine learning for on-orbit applications has been hampered by limited computing capabilities, and therefore limited performance. While embedded systems utilizing ARM processors have been shown to…