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This paper introduces InverseMatrixVT3D, an efficient method for transforming multi-view image features into 3D feature volumes for 3D semantic occupancy prediction. Existing methods for constructing 3D volumes often rely on depth…
Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…
Sparse signal recoveries from multiple measurement vectors (MMV) with joint sparsity property have many applications in signal, image, and video processing. The problem becomes much more involved when snapshots of the signal matrix are…
Optical Coherence Tomography (OCT) is an emerging medical imaging modality for luminal organ diagnosis. The non-constant rotation speed of optical components in the OCT catheter tip causes rotational distortion in OCT volumetric scanning.…
Visual-Inertial Odometry (VIO) algorithms typically rely on a point cloud representation of the scene that does not model the topology of the environment. A 3D mesh instead offers a richer, yet lightweight, model. Nevertheless, building a…
In several applications, including imaging of deformable objects while in motion, simultaneous localization and mapping, and unlabeled sensing, we encounter the problem of recovering a signal that is measured subject to unknown…
In autonomous driving, robust place recognition is critical for global localization and loop closure detection. While inter-modality fusion of camera and LiDAR data in multimodal place recognition (MPR) has shown promise in overcoming the…
We consider the problem of recovering an $N$-dimensional sparse vector $\vm{x}$ from its linear transformation $\vm{y}=\vm{D} \vm{x}$ of $M(< N)$ dimension. Minimizing the $l_{1}$-norm of $\vm{x}$ under the constraint $\vm{y} = \vm{D}…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…
We study the recovery of an unknown three-dimensional band-limited signal from multiple noisy observations that are randomly rotated by latent elements of SO(3), where the rotations are drawn from an unknown, non-uniform distribution.…
We propose to formulate MRI image reconstruction as an optimization problem and model the optimization trajectory as a dynamic process using ordinary differential equations (ODEs). We model the dynamics in ODE with a neural network and…
Magnetic resonance imaging (MRI) is the gold standard imaging modality for numerous diagnostic tasks, yet its usefulness is tempered due to its high cost and infrastructural requirements. Low-cost very-low-field portable scanners offer new…
This paper considers the recovery of a rank $r$ positive semidefinite matrix $X X^T\in\mathbb{R}^{n\times n}$ from $m$ scalar measurements of the form $y_i := a_i^T X X^T a_i$ (i.e., quadratic measurements of $X$). Such problems arise in a…
From an image of a person, we can easily infer the natural 3D pose and shape of the person even if ambiguity exists. This is because we have a mental model that allows us to imagine a person's appearance at different viewing directions from…
Automatic motion compensation and adjustment of an intraoperative imaging modality's field of view is a common problem during interventions. Optical coherence tomography (OCT) is an imaging modality which is used in interventions due to its…
Optical diffraction tomography (ODT) reconstructs a samples volumetric refractive index (RI) to create high-contrast, quantitative 3D visualizations of biological samples. However, standard implementations of ODT use interferometric…
Optical coherence tomography (OCT) is an important interferometric diagnostic technique which provides cross-sectional views of the subsurface microstructure of biological tissues. However, the imaging quality of high-speed OCT is limited…
Three-dimensional (3D) reconstruction of head Computed Tomography (CT) images elucidates the intricate spatial relationships of tissue structures, thereby assisting in accurate diagnosis. Nonetheless, securing an optimal head CT scan…
We introduce OV-MAP, a novel approach to open-world 3D mapping for mobile robots by integrating open-features into 3D maps to enhance object recognition capabilities. A significant challenge arises when overlapping features from adjacent…
For optical coherence tomography angiography (OCTA) images, a limited scanning rate leads to a trade-off between field-of-view (FOV) and imaging resolution. Although larger FOV images may reveal more parafoveal vascular lesions, their…