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In this paper, we introduce a rotational primitive prediction based 6D object pose estimation using a single image as an input. We solve for the 6D object pose of a known object relative to the camera using a single image with occlusion.…

Vision Transformer (ViT), a radically different architecture than convolutional neural networks offers multiple advantages including design simplicity, robustness and state-of-the-art performance on many vision tasks. However, in contrast…

Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…

Augmented reality aims to enrich our real world by inserting 3D virtual objects. In order to accomplish this goal, it is important that virtual elements are rendered and aligned in the real scene in an accurate and visually acceptable way.…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

Image retrieval-based cross-view localization methods often lead to very coarse camera pose estimation, due to the limited sampling density of the database satellite images. In this paper, we propose a method to increase the accuracy of a…

This paper proposes a generalizable, end-to-end deep learning-based method for relative pose regression between two images. Given two images of the same scene captured from different viewpoints, our method predicts the relative rotation and…

How discriminative position information is for image classification depends on the data. On the one hand, the camera position is arbitrary and objects can appear anywhere in the image, arguing for translation invariance. At the same time,…

High-precision vehicle localization with commercial setups is a crucial technique for high-level autonomous driving tasks. Localization with a monocular camera in LiDAR map is a newly emerged approach that achieves promising balance between…

Though vision transformers (ViTs) have achieved state-of-the-art performance in a variety of settings, they exhibit surprising failures when performing tasks involving visual relations. This begs the question: how do ViTs attempt to perform…

Vision Transformers (ViTs) achieve strong performance in visual recognition, yet their decision-making remains difficult to interpret. We propose BiCAM, a bidirectional class activation mapping method that captures both supportive…

Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…

Estimating camera pose from a single image is a fundamental problem in computer vision. Existing methods for solving this task fall into two distinct categories, which we refer to as direct and indirect. Direct methods, such as PoseNet,…

In recent years, Transformer-based architectures have become the dominant method for Computer Vision applications. While Transformers are explainable and scale well with dataset size, they lack the inductive biases of Convolutional Neural…

Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images…

In Autonomous Driving, cyclists belong to the safety-critical class of Vulnerable Road Users (VRU), and accurate estimation of their pose is critical for cyclist crossing intention classification, behavior prediction, and collision…

Vision Transformers (ViTs) have recently achieved state-of-the-art performance in 2D human pose estimation due to their strong global modeling capability. However, existing ViT-based pose estimators are designed for static images and…

Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…

Vision Transformers (ViT) have advanced computer vision, yet their efficacy in complex tasks like driving remains less explored. This study enhances ViT by integrating human eye gaze, captured via eye-tracking, to increase prediction…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…