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Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…
We revisit the gravitational lensing phenomenon using a new visualization technique. It consists in projecting the observers sky into the source plane, what gives rise to a folded and stretched surface. This provides a clear graphical tool…
We describe a system to detect objects in three-dimensional space using video and inertial sensors (accelerometer and gyrometer), ubiquitous in modern mobile platforms from phones to drones. Inertials afford the ability to impose…
The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate…
Object navigation is a core capability of embodied intelligence, enabling an agent to locate target objects in unknown environments. Recent advances in vision-language models (VLMs) have facilitated zero-shot object navigation (ZSON).…
We introduce \textit{HeadZoom}, a hands-free interaction technique for navigating two-dimensional visual content using head movements. HeadZoom enables fluid zooming and panning using only real-time head tracking. It supports natural…
We introduce a perception-related function, OWL, designed to address the complex challenges of 3D perception during motion. It derives its values directly from two fundamental visual motion cues, with one set of cue values per point per…
With rapid advancements in the area of mobile robotics and industrial automation, a growing need has arisen towards accurate navigation and localization of moving objects. Camera based motion estimation is one such technique which is…
In this paper, we present a new approach to visual servoing for robotics, referred to as 3D Move to See (3DMTS), based on the principle of finding the next best view using a 3D camera array and a robotic manipulator to obtain multiple…
The perception of 3D motion of surrounding traffic participants is crucial for driving safety. While existing works primarily focus on general large motions, we contend that the instantaneous detection and quantification of subtle motions…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
Existing optical flow methods make generic, spatially homogeneous, assumptions about the spatial structure of the flow. In reality, optical flow varies across an image depending on object class. Simply put, different objects move…
Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…
The challenge of navigation in environments with dynamic objects continues to be a central issue in the study of autonomous agents. While predictive methods hold promise, their reliance on precise state information makes them less practical…
In this paper alternative method for real-time 3D model rasterization is given. Surfaces are drawn in perspective-map space which acts as a virtual camera lens. It can render single-pass 360{\deg} angle of view (AOV) image of unlimited…
This paper proposes a novel approach to create an automated visual surveillance system which is very efficient in detecting and tracking moving objects in a video captured by moving camera without any apriori information about the captured…
3D motion tracking is a critical task in many computer vision applications. Existing 3D motion tracking techniques require either a great amount of knowledge on the target object or specific hardware. These requirements discourage the wide…
The optical flow of humans is well known to be useful for the analysis of human action. Given this, we devise an optical flow algorithm specifically for human motion and show that it is superior to generic flow methods. Designing a method…
We introduce a general framework for visual forecasting, which directly imitates visual sequences without additional supervision. As a result, our model can be applied at several semantic levels and does not require any domain knowledge or…
We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an…