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This paper presents a point cloud based robotic system for arc welding. Using hand gesture controls, the system scans partial point cloud views of workpiece and reconstructs them into a complete 3D model by a linear iterative closest point…
Recent advances in the area of plane segmentation from single RGB images show strong accuracy improvements and now allow a reliable segmentation of indoor scenes into planes. Nonetheless, fine-grained details of these segmentation masks are…
Line segments are ubiquitous in our human-made world and are increasingly used in vision tasks. They are complementary to feature points thanks to their spatial extent and the structural information they provide. Traditional line detectors…
Drone-based rapid and accurate environmental edge detection is highly advantageous for tasks such as disaster relief and autonomous navigation. Current methods, using radars or cameras, raise deployment costs and burden lightweight drones…
Power lines are dangerous for low-flying aircraft, especially in low-visibility conditions. Thus, a vision-based system able to analyze the aircraft's surroundings and to provide the pilots with a "second pair of eyes" can contribute to…
Semantic segmentation requires pixel-level annotation, which is time-consuming. Active Learning (AL) is a promising method for reducing data annotation costs. Due to the gap between aerial and natural images, the previous AL methods are not…
Autonomous driving is becoming one of the leading industrial research areas. Therefore many automobile companies are coming up with semi to fully autonomous driving solutions. Among these solutions, lane detection is one of the vital…
SLAM based techniques are often adopted for solving the navigation problem for the drones in GPS denied environment. Despite the widespread success of these approaches, they have not yet been fully exploited for automation in a warehouse…
Edge detection is a critical component of many vision systems, including object detectors and image segmentation algorithms. Patches of edges exhibit well-known forms of local structure, such as straight lines or T-junctions. In this paper…
Line art is arguably one of the fundamental and versatile modes of expression. We propose a pipeline for a robot to look at a grayscale line art and redraw it. The key novel elements of our pipeline are: a) we propose a novel task of…
Autonomous inspection of underground infrastructure, such as sewer and culvert systems, is critical to public safety and urban sustainability. Although robotic platforms equipped with visual sensors can efficiently detect structural…
Since edge detection is in the forefront of image processing for object detection, it is crucial to have a good understanding of edge detection algorithms. The reason for this is that edges form the outline of an object. An edge is the…
We present the novel Efficient Line Segment Detector and Descriptor (ELSD) to simultaneously detect line segments and extract their descriptors in an image. Unlike the traditional pipelines that conduct detection and description separately,…
The rapid development of remote sensing technologies have gained significant attention due to their ability to accurately localize, classify, and segment objects from aerial images. These technologies are commonly used in unmanned aerial…
Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…
Although semi-dense Simultaneous Localization and Mapping (SLAM) has been becoming more popular over the last few years, there is a lack of efficient methods for representing and processing their large scale point clouds. In this paper, we…
Motivated by the development of deep convolution neural networks (DCNNs), tremendous progress has been gained in the field of aircraft detection. These DCNNs based detectors mainly belong to top-down approaches, which first enumerate…
Self-localization is essential in robot soccer, where accurate detection of visual field features, such as lines and boundaries, is critical for reliable pose estimation. This paper presents a lightweight and efficient method for detecting…
Lines are interesting geometrical features commonly seen in indoor and urban environments. There is missing a complete benchmark where one can evaluate lines from a sequential stream of images in all its stages: Line detection, Line…
This paper presents a model-driven approach to detect image line segments. The approach incrementally detects segments on the gradient image using a linear Kalman filter that estimates the supporting line parameters and their associated…