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We introduce a novel monocular visual odometry (VO) system, NeRF-VO, that integrates learning-based sparse visual odometry for low-latency camera tracking and a neural radiance scene representation for fine-detailed dense reconstruction and…
Screen-based Augmented Reality (AR) systems can be built as a window into the real world as often done in mobile AR applications or using the Magic Mirror metaphor, where users can see themselves with augmented graphics on a large display.…
A switchable virtual reality (VR), augmented reality (AR), and mixed reality (MR) system is proposed using digital optical cloaking. Optical cloaking allows completely opaque VR devices to be "cloaked," switching to AR or MR while providing…
Detecting oriented objects along with estimating their rotation information is one crucial step for analyzing remote sensing images. Despite that many methods proposed recently have achieved remarkable performance, most of them directly…
Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle state estimation tasks involving motion blur and high…
Absolute Pose Regression (APR) predicts 6D camera poses but lacks the adaptability to unknown environments without retraining, while Relative Pose Regression (RPR) generalizes better yet requires a large image retrieval database. Visual…
We present an approach for retartgeting off-the-shelf Virtual Reality (VR) trackers to effectively teleoperate an upper-body humanoid while ensuring self-collision-free motions. Key to the effectiveness was the proper assignment of trackers…
In this paper we show how to perform scene-level inverse rendering to recover shape, reflectance and lighting from a single, uncontrolled image using a fully convolutional neural network. The network takes an RGB image as input, regresses…
360 images, with a field-of-view (FoV) of 180x360, provide immersive and realistic environments for emerging virtual reality (VR) applications, such as virtual tourism, where users desire to create diverse panoramic scenes from a narrow FoV…
In this work we showcase the design and assessment of the performance of a multi-camera UAV, when coupled with state-of-the-art planning and mapping algorithms for autonomous navigation. The system leverages state-of-the-art receding…
We describe the design and 3D sensing performance of an omnidirectional stereo-vision system (omnistereo) as applied to Micro Aerial Vehicles (MAVs). The proposed omnistereo model employs a monocular camera that is co-axially aligned with a…
We hypothesize that an agent that can look around in static scenes can learn rich visual representations applicable to 3D object tracking in complex dynamic scenes. We are motivated in this pursuit by the fact that the physical world itself…
Embodied visual tracking is to follow a target object in dynamic 3D environments using an agent's egocentric vision. This is a vital and challenging skill for embodied agents. However, existing methods suffer from inefficient training and…
Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a…
Safe autonomous driving requires reliable 3D object detection-determining the 6 DoF pose and dimensions of objects of interest. Using stereo cameras to solve this task is a cost-effective alternative to the widely used LiDAR sensor. The…
X-ray computed tomography is a powerful tool for volumetric imaging, where three-dimensional (3D) images are generated from a large number of individual X-ray projection images. Collecting the required number of low noise projection images…
Capturing the interactions between humans and their environment in 3D is important for many applications in robotics, graphics, and vision. Recent works to reconstruct the 3D human and object from a single RGB image do not have consistent…
We introduce a method to convert stereo 360{\deg} (omnidirectional stereo) imagery into a layered, multi-sphere image representation for six degree-of-freedom (6DoF) rendering. Stereo 360{\deg} imagery can be captured from multi-camera…
Stereoscopic projection mapping (PM) allows a user to see a three-dimensional (3D) computer-generated (CG) object floating over physical surfaces of arbitrary shapes around us using projected imagery. However, the current stereoscopic PM…
We propose XVO, a semi-supervised learning method for training generalized monocular Visual Odometry (VO) models with robust off-the-self operation across diverse datasets and settings. In contrast to standard monocular VO approaches which…