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Plane feature is a kind of stable landmark to reduce drift error in SLAM system. It is easy and fast to extract planes from dense point cloud, which is commonly acquired from RGB-D camera or lidar. But for stereo camera, it is hard to…
A fundamental question for edge detection in noisy images is how faint can an edge be and still be detected. In this paper we offer a formalism to study this question and subsequently introduce computationally efficient multiscale edge…
In this article we suggest a fast multi-scale edge-detection scheme for medical ultrasound signals. The edge-detector is based on well-known properties of the continuous wavelet trans- form. To achieve both good localization of edges and…
Real-time high-accuracy optical flow estimation is a crucial component in various applications, including localization and mapping in robotics, object tracking, and activity recognition in computer vision. While recent learning-based…
Edge computing enables data processing closer to the source, significantly reducing latency, an essential requirement for real-time vision-based analytics such as object detection in surveillance and smart city environments. However, these…
Staircases are some of the most common building structures in urban environments. Stair detection is an important task for various applications, including the environmental perception of exoskeleton robots, humanoid robots, and rescue…
Addressing airport traffic jams is one of the most crucial and challenging tasks in the remote sensing field, especially for the busiest airports. Several solutions have been employed to address this problem depending on the airplane…
In this paper, we address the design of lightweight deep learning-based edge detection. The deep learning technology offers a significant improvement on the edge detection accuracy. However, typical neural network designs have very high…
Semantic boundary and edge detection aims at simultaneously detecting object edge pixels in images and assigning class labels to them. Systematic training of predictors for this task requires the labeling of edges in images which is a…
Lane detection is typically tackled with a two-step pipeline in which a segmentation mask of the lane markings is predicted first, and a lane line model (like a parabola or spline) is fitted to the post-processed mask next. The problem with…
Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization accuracy are of great importance towards a good SLAM system.…
In this paper, we propose a learning-based approach to the task of automatically extracting a "wireframe" representation for images of cluttered man-made environments. The wireframe (see Fig. 1) contains all salient straight lines and their…
Making sense of the physical world has always been at the core of mapping. Up until recently, this has always dependent on using the human eye. Using airborne lasers, it has become possible to quickly "see" more of the world in many more…
In the context of lung ultrasound, the detection of B-lines, which are indicative of interstitial lung disease and pulmonary edema, plays a pivotal role in clinical diagnosis. Current methods still rely on visual inspection by experts.…
A novel algorithm to detect road lanes in the eigenlane space is proposed in this paper. First, we introduce the notion of eigenlanes, which are data-driven descriptors for structurally diverse lanes, including curved, as well as straight,…
We propose a visual SLAM method by predicting and updating line flows that represent sequential 2D projections of 3D line segments. While feature-based SLAM methods have achieved excellent results, they still face problems in challenging…
Occlusion edges in images which correspond to range discontinuity in the scene from the point of view of the observer are an important prerequisite for many vision and mobile robot tasks. Although they can be extracted from range data…
This paper looks into the problem of grasping region localization along with suitable pose from a cluttered environment without any a priori knowledge of the object geometry. This end-to-end method detects the handles from a single frame of…
Automatic airplane detection in aerial imagery has a variety of applications. Two of the significant challenges in this task are variations in the scale and direction of the airplanes. To solve these challenges, we present a…
This paper presents an edge detection method based on global and local parameters of the image, which produces satisfactory results on the edge detection of complex images and has a simple structure for execution. The local and global…