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We propose a multi-camera LiDAR-visual-inertial odometry framework, Multi-LVI-SAM, which fuses data from multiple fisheye cameras, LiDAR and inertial sensors for highly accurate and robust state estimation. To enable efficient and…
Single camera 3D perception for traffic monitoring faces significant challenges due to occlusion and limited field of view. Moreover, fusing information from multiple cameras at the image feature level is difficult because of different view…
Lighting understanding plays an important role in virtual object composition, including mobile augmented reality (AR) applications. Prior work often targets recovering lighting from the physical environment to support photorealistic AR…
Using ceiling-mounted cameras (CMCs) for indoor visual capturing opens up a wide range of applications. However, registering CMCs to the target scene layout presents a challenging task. While manual registration with specialized tools is…
The vehicle re-identification (ReID) plays a critical role in the perception system of autonomous driving, which attracts more and more attention in recent years. However, to our best knowledge, there is no existing complete solution for…
Vehicle re-identification (Re-ID) is a critical component of the autonomous driving perception system, and research in this area has accelerated in recent years. However, there is yet no perfect solution to the vehicle re-identification…
In the past few years, numerous Deep Neural Network (DNN) models and frameworks have been developed to tackle the problem of real-time object detection from RGB images. Ordinary object detection approaches process information from the…
We tackle a new problem of multi-view camera and subject registration in the bird's eye view (BEV) without pre-given camera calibration. This is a very challenging problem since its only input is several RGB images from different…
Fisheye cameras are widely employed in automatic parking, and the video stream object detection (VSOD) of the fisheye camera is a fundamental perception function to ensure the safe operation of vehicles. In past research work, the…
A large field-of-view fisheye camera allows for capturing a large area with minimal numbers of cameras when they are mounted on a high position facing downwards. This top-view omnidirectional setup greatly reduces the work and cost for…
Imitation learning has demonstrated significant potential in performing high-precision manipulation tasks using visual feedback. However, it is common practice in imitation learning for cameras to be fixed in place, resulting in issues like…
Estimating motion from images is a well-studied problem in computer vision and robotics. Previous work has developed techniques to estimate the motion of a moving camera in a largely static environment (e.g., visual odometry) and to segment…
In this work, we fabricated and studied two designs for omnidirectional vision sensors for swarm robotics, based on catadioptric systems consisting of a mirror with rotational symmetry, eight discrete infrared photodiodes and a single LED,…
Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…
Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
Automated Parking is a low speed manoeuvring scenario which is quite unstructured and complex, requiring full 360{\deg} near-field sensing around the vehicle. In this paper, we discuss the design and implementation of an automated parking…
This paper proposes two new algorithms for certified perception in safety-critical robotic applications. The first is a Certified Visual Odometry algorithm, which uses a RGBD camera with bounded sensor noise to construct a visual odometry…
Radar as a remote sensing technology has been used to analyze human activity for decades. Despite all the great features such as motion sensitivity, privacy preservation, penetrability, and more, radar has limited spatial degrees of freedom…
Concurrently estimating the 6-DOF pose of multiple cameras or robots---cooperative localization---is a core problem in contemporary robotics. Current works focus on a set of mutually observable world landmarks and often require inbuilt…