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In this paper, a computation efficient regression framework is presented for estimating the 6D pose of rigid objects from a single RGB-D image, which is applicable to handling symmetric objects. This framework is designed in a simple…

Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…

Visual localization allows autonomous robots to relocalize when losing track of their pose by matching their current observation with past ones. However, ambiguous scenes pose a challenge for such systems, as repetitive structures can be…

Estimating 3D shapes and poses of static objects from a single image has important applications for robotics, augmented reality and digital content creation. Often this is done through direct mesh predictions which produces unrealistic,…

Category-agnostic pose estimation (CAPE) aims to predict keypoints for arbitrary classes given a few support images annotated with keypoints. Existing methods only rely on the features extracted at support keypoints to predict or refine the…

3D occupancy prediction aims to infer dense, voxel-wise scene semantics from sensor observations, where the 2D-to-3D view transformation serves as a crucial step in bridging image features and volumetric representations. Most previous…

Visual Place Recognition (VPR) is the process of recognising a previously visited place using visual information, often under varying appearance conditions and viewpoint changes and with computational constraints. VPR is related to the…

Estimating camera pose from a single image is a fundamental problem in computer vision. Existing methods for solving this task fall into two distinct categories, which we refer to as direct and indirect. Direct methods, such as PoseNet,…

Monocular 3D reconstruction for categorical objects heavily relies on accurately perceiving each object's pose. While gradient-based optimization in a NeRF framework updates the initial pose, this paper highlights that scale-depth ambiguity…

Understanding and extracting 3D information of objects from monocular 2D images is a fundamental problem in computer vision. In the task of 3D object pose estimation, recent data driven deep neural network based approaches suffer from…

In visual place recognition (VPR), filtering and sequence-based matching approaches can improve performance by integrating temporal information across image sequences, especially in challenging conditions. While these methods are commonly…

Visual Place Recognition (VPR) has advanced significantly with high-capacity foundation models like DINOv2, achieving remarkable performance. Nonetheless, their substantial computational cost makes deployment on resource-constrained devices…

Unsupervised anomaly detection plays a pivotal role in industrial defect inspection and medical image analysis, with most methods relying on the reconstruction framework. However, these methods may suffer from over-generalization, enabling…

Although deep neural networks have achieved reasonable accuracy in solving face alignment, it is still a challenging task, specifically when we deal with facial images, under occlusion, or extreme head poses. Heatmap-based Regression (HBR)…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

Safety-critical perception systems require both reliable uncertainty quantification and principled abstention mechanisms to maintain safety under diverse operational conditions. We present a novel dual-threshold conformalization framework…

Reconstructing high dynamic range (HDR) images from low dynamic range (LDR) bursts plays an essential role in the computational photography. Impressive progress has been achieved by learning-based algorithms which require LDR-HDR image…

Explicitly modeling room background depth as a geometric constraint has proven effective for panoramic depth estimation. However, reconstructing this background depth for regular enclosed regions in a complex indoor scene without external…

Predicting and forecasting human dynamics is a very interesting but challenging task with several prospective applications in robotics, health-care, etc. Recently, several methods have been developed for human pose forecasting; however,…

We address the task of estimating 6D camera poses from sparse-view image sets (2-8 images). This task is a vital pre-processing stage for nearly all contemporary (neural) reconstruction algorithms but remains challenging given sparse views,…