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Accurate moving object segmentation is an essential task for autonomous driving. It can provide effective information for many downstream tasks, such as collision avoidance, path planning, and static map construction. How to effectively…
Visual grouping is a key mechanism in human scene perception. There, it belongs to the subconscious, early processing and is key prerequisite for other high level tasks such as recognition. In this paper, we introduce an efficient, realtime…
Most Vision-and-Language Navigation (VLN) algorithms are prone to making inaccurate decisions due to their lack of visual common sense and limited reasoning capabilities. To address this issue, we propose a Hierarchical Spatial Proximity…
Object shape and pose estimation is a foundational robotics problem, supporting tasks from manipulation to scene understanding and navigation. We present a fast local solver for shape and pose estimation which requires only category-level…
Recently, the joint design of optical systems and downstream algorithms is showing significant potential. However, existing rays-described methods are limited to optimizing geometric degradation, making it difficult to fully represent the…
In this paper, we present a novel, learning-based, two-step super-resolution (SR) algorithm well suited to solve the specially demanding problem of obtaining SR estimates from short image sequences. The first step, devoted to increase the…
Joint matching over a collection of objects aims at aggregating information from a large collection of similar instances (e.g. images, graphs, shapes) to improve maps between pairs of them. Given multiple matches computed between a few…
Tracking objects in 3D space and predicting their 6DoF pose is an essential task in computer vision. State-of-the-art approaches often rely on object texture to tackle this problem. However, while they achieve impressive results, many…
We present an acceleration method for sequences of large-scale linear systems, such as the ones arising from the numerical solution of time-dependent partial differential equations coupled with algebraic constraints. We discuss different…
As Super-Resolution (SR) has matured as a research topic, it has been applied to additional topics beyond image reconstruction. In particular, combining classification or object detection tasks with a super-resolution preprocessing stage…
Reconstructing accurate surfaces with radiance fields has progressed rapidly, yet two promising explicit representations, 3D Gaussian Splatting and sparse-voxel rasterization, exhibit complementary strengths and weaknesses. 3D Gaussian…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
We present a method for finding cross-modal space-time correspondences. Given two images from different visual modalities, such as an RGB image and a depth map, our model identifies which pairs of pixels correspond to the same physical…
Instance segmentation is a fundamental skill for many robotic applications. We propose a self-supervised method that uses grasp interactions to collect segmentation supervision for an instance segmentation model. When a robot grasps an…
The advent of advanced crystallographic techniques has shifted structural biology from static, single-conformer models toward probing protein dynamics. Extracting cooperative motions from temporally and spatially averaged electron density…
Least squares estimation, a regression technique based on minimisation of residuals, has been invaluable in bringing the best fit solutions to parameters in science and engineering. However, in dynamic environments such as in Geomatics…
This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…
Capturing data from dynamic processes through cross-sectional measurements is seen in many fields, such as computational biology. Trajectory inference deals with the challenge of reconstructing continuous processes from such observations.…
We propose a novel guided interactive segmentation (GIS) algorithm for video objects to improve the segmentation accuracy and reduce the interaction time. First, we design the reliability-based attention module to analyze the reliability of…
Online augmentation of an oblique aerial image sequence with structural information is an essential aspect in the process of 3D scene interpretation and analysis. One key aspect in this is the efficient dense image matching and depth…