Related papers: What's Wrong with the Absolute Trajectory Error?
The proliferation of smartphones and other mobile devices provides a unique opportunity to make Advanced Driver Assistance Systems (ADAS) accessible to everyone in the form of an application empowered by low-cost Machine/Deep Learning…
This paper presents a fast and principled approach for solving the visual anomaly detection and segmentation problem. In this setup, we have access to only anomaly-free training data and want to detect and identify anomalies of an arbitrary…
The rapid advancement of diffusion-based image generators has made it increasingly difficult to distinguish generated from real images. This erodes trust in digital media, making it critical to develop generated image detectors that remain…
Recently anomaly detection (AD) has become an important application for target detection in hyperspectral remotely sensed images. In many applications, in addition to high accuracy of detection we need a fast and reliable algorithm as well.…
Uncertainty quantification in travel time estimation (TTE) aims to estimate the confidence interval for travel time, given the origin (O), destination (D), and departure time (T). Accurately quantifying this uncertainty requires generating…
Despite the increasing prevalence of rotating-style capture (e.g., surveillance cameras), conventional stereo rectification techniques frequently fail due to the rotation-dominant motion and small baseline between views. In this paper, we…
We propose three novel metrics for evaluating the accuracy of a set of estimated camera poses given the ground truth: Translation Alignment Score (TAS), Rotation Alignment Score (RAS), and Pose Alignment Score (PAS). The TAS evaluates the…
We present a potential improvement over the standard method developed to determine antineutrino directionality in inverse-beta-decay detectors. The previously developed method for quantifying directionality in monolithic and segmented…
Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or…
For nonlinear multispectral computed tomography (CT), accurate and fast image reconstruction is challenging when the scanning geometries under different X-ray energy spectra are inconsistent or mismatched. Motivated by this, we propose an…
Various perception-aware planning approaches have attempted to enhance the state estimation accuracy during maneuvers, while the feature matchability among frames, a crucial factor influencing estimation accuracy, has often been overlooked.…
An algorithm for pose and motion estimation using corresponding features in omnidirectional images and a digital terrain map is proposed. In previous paper, such algorithm for regular camera was considered. Using a Digital Terrain (or…
Inertial Measurement Unit (IMU) sensors, including accelerometers, gyroscopes, and magnetometers, are used to estimate the orientation of mobile devices. However, indoor magnetic fields are often distorted, causing the magnetometer's…
We analyze and experimentally compare various rotational error metrics for use in quadrotor controllers. Traditional quadrotor attitude controllers have used Euler angles or the full rotation to compute an attitude error and scale that to…
Density ratio estimation (DRE) is at the core of various machine learning tasks such as anomaly detection and domain adaptation. In existing studies on DRE, methods based on Bregman divergence (BD) minimization have been extensively…
Accurate reconstruction of arbitrary-shaped long slender continuum bodies, such as guidewires, catheters and other soft continuum manipulators, is essential for accurate mechanical simulation. However, existing image-based reconstruction…
Trajectory Reconstruction (TR) is vital for accurately mapping movement patterns and validating analyses, especially in fields like robotics, biomechanics, and environmental tracking, where data might be missing or affected by outliers.…
Sparse trajectory data consist of a low number of trajectories such that the reconstruction of an underlying velocity field is not possible. Recently, approaches have been introduced to analyze flow behavior based on a single trajectory…
The ongoing biodiversity crisis calls for accurate estimation of animal density and abundance to identify sources of biodiversity decline and effectiveness of conservation interventions. Camera traps together with abundance estimation…
Real-time cone-beam computed tomography (CBCT) provides instantaneous visualization of patient anatomy for image guidance, motion tracking, and online treatment adaptation in radiotherapy. While many real-time imaging and motion tracking…