Related papers: Automated Camera Calibration via Homography Estima…
Autonomous vehicles commonly rely on highly detailed birds-eye-view maps of their environment, which capture both static elements of the scene such as road layout as well as dynamic elements such as other cars and pedestrians. Generating…
Feature-based image matching has extensive applications in computer vision. Keypoints detected in images can be naturally represented as graph structures, and Graph Neural Networks (GNNs) have been shown to outperform traditional deep…
Recent advancements in Generative Artificial Intelligence (GenAI) have significantly enhanced the capabilities of both image generation and editing. However, current approaches often treat these tasks separately, leading to inefficiencies…
Convolutional neural networks (CNN) have made significant advances in detecting roads from satellite images. However, existing CNN approaches are generally repurposed semantic segmentation architectures and suffer from the poor delineation…
Collision-free space detection is a critical component of autonomous vehicle perception. The state-of-the-art algorithms are typically based on supervised learning. The performance of such approaches is always dependent on the quality and…
Visual perception is regularly used by humans and robots for navigation. By either implicitly or explicitly mapping the environment, ego-motion can be determined and a path of actions can be planned. The process of mapping and navigation…
Accurate camera-to-lidar calibration is a requirement for sensor data fusion in many 3D perception tasks. In this paper, we present SceneCalib, a novel method for simultaneous self-calibration of extrinsic and intrinsic parameters in a…
Homography estimation between multiple aerial images can provide relative pose estimation for collaborative autonomous exploration and monitoring. The usage on a robotic system requires a fast and robust homography estimation algorithm. In…
The airborne traffic monitoring system forms a novel technology of detecting vehicle motion. An optical digital camera located on an airborne platform produces a series of images which then are processed to recognized the fixed vehicles. In…
We present a new two-stage pipeline for predicting frames of traffic scenes where relevant objects can still reliably be detected. Using a recent video prediction network, we first generate a sequence of future frames based on past frames.…
Real-world graphs have inherently complex and diverse topological patterns, known as topological heterogeneity. Most existing works learn graph representation in a single constant curvature space that is insufficient to match the complex…
Accurate estimation of stereo camera extrinsic parameters is the key to guarantee the performance of stereo matching algorithms. In prior arts, the online self-calibration of stereo cameras has commonly been formulated as a specialized…
Multi-perspective cameras are quickly gaining importance in many applications such as smart vehicles and virtual or augmented reality. However, a large system size or absence of overlap in neighbouring fields-of-view often complicate their…
In this paper, we address the problem of inferring the layout of complex road scenes given a single camera as input. To achieve that, we first propose a novel parameterized model of road layouts in a top-view representation, which is not…
A fundamental problem in computer vision is boundary estimation, where the goal is to delineate the boundary of objects in an image. In this paper, we propose a method which jointly incorporates geometric and topological information within…
In this paper, we propose the first minimal solutions for estimating the semi-generalized homography given a perspective and a generalized camera. The proposed solvers use five 2D-2D image point correspondences induced by a scene plane. One…
Accurately predicting road networks from satellite images requires a global understanding of the network topology. We propose to capture such high-level information by introducing a graph-based framework that simulates the addition of…
The task of camera calibration is to estimate the intrinsic and extrinsic parameters of a camera model. Though there are some restricted techniques to infer the 3-D information about the scene from uncalibrated cameras, effective camera…
In this study, we present and analyze a framework for geometric and topological estimation for mapping of unknown environments. We consider agents mimicking motion behaviors of cyborg insects, known as biobots, and exploit coordinate-free…
For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…