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Bayesian optimization (BO) has shown impressive results in a variety of applications within low-to-moderate dimensional Euclidean spaces. However, extending BO to high-dimensional settings remains a significant challenge. We address this…

While remarkable progress has been made in robust visual tracking, accurate target state estimation still remains a highly challenging problem. In this paper, we argue that this issue is closely related to the prevalent bounding box…

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…

Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…

We revisit the problem of motion planning in the Gaussian belief space. Motivated by the fact that most existing sampling-based planners suffer from high computational costs due to the high-dimensional nature of the problem, we propose an…

In ill-posed inverse problems, it is commonly desirable to obtain insight into the full spectrum of plausible solutions, rather than extracting only a single reconstruction. Information about the plausible solutions and their likelihoods is…

This study investigates weakly supervised image segmentation using loose bounding box supervision. It presents a multiple instance learning strategy based on polar transformation to assist image segmentation when loose bounding boxes are…

Visual localization is a fundamental task that regresses the 6 Degree Of Freedom (6DoF) poses with image features in order to serve the high precision localization requests in many robotics applications. Degenerate conditions like motion…

High-definition map with accurate lane-level information is crucial for autonomous driving, but the creation of these maps is a resource-intensive process. To this end, we present a cost-effective solution to create lane-level roadmaps…

We present a framework for robust face detection and landmark localisation of faces in the wild, which has been evaluated as part of `the 2nd Facial Landmark Localisation Competition'. The framework has four stages: face detection, bounding…

Visual Geo-localization (VG) is the task of estimating the position where a given photo was taken by comparing it with a large database of images of known locations. To investigate how existing techniques would perform on a real-world…

Re-ranking is the second stage of a visual place recognition task, in which the system chooses the best-matching images from a pre-selected subset of candidates. Model-free approaches compute the image pair similarity based on a spatial…

This paper introduces an approach to produce accurate 3D detection boxes for objects on the ground using single monocular images. We do so by merging 2D visual cues, 3D object dimensions, and ground plane constraints to produce boxes that…

Cross-view localization aims to estimate the 3-DoF pose of a ground-view image by aligning it with aerial or satellite imagery. Existing methods typically address this task through direct regression or feature alignment in a shared…

In this paper, we study the problem of answering visual analogy questions. These questions take the form of image A is to image B as image C is to what. Answering these questions entails discovering the mapping from image A to image B and…

A major focus of current research on place recognition is visual localization for autonomous driving. In this scenario, as cameras will be operating continuously, it is realistic to expect videos as an input to visual localization…

This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence.…

Variational Autoencoders and their many variants have displayed impressive ability to perform dimensionality reduction, often achieving state-of-the-art performance. Many current methods however, struggle to learn good representations in…

In this report, we present a cross-view multi-modal object segmentation approach for the object correspondence task in the Ego-Exo4D Correspondence Challenges 2025. Given object queries from one perspective (e.g., ego view), the goal is to…

Visual place recognition methods struggle with occlusions and partial visual overlaps. We propose a novel visual place recognition approach based on overlap prediction, called VOP, shifting from traditional reliance on global image…