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In this paper we first contribute a large scale online study (N=400) to better understand aesthetic perception of aerial video. The results indicate that it is paramount to optimize smoothness of trajectories across all keyframes. However,…
Recent advancements in 3D Gaussian Splatting (3D-GS) have revolutionized novel view synthesis, facilitating real-time, high-quality image rendering. However, in scenarios involving reflective surfaces, particularly mirrors, 3D-GS often…
Existing homography and optical flow methods are erroneous in challenging scenes, such as fog, rain, night, and snow because the basic assumptions such as brightness and gradient constancy are broken. To address this issue, we present an…
Traditional visual-inertial state estimation targets absolute camera poses and spatial landmark locations while first-order kinematics are typically resolved as an implicitly estimated sub-state. However, this poses a risk in velocity-based…
Recent advances in imitation learning have shown significant promise for robotic control and embodied intelligence. However, achieving robust generalization across diverse mounted camera observations remains a critical challenge. In this…
The bioinspired event camera, distinguished by its exceptional temporal resolution, high dynamic range, and low power consumption, has been extensively studied in recent years for motion estimation, robotic perception, and object detection.…
Robotic vision plays a major role in factory automation to service robot applications. However, the traditional use of frame-based camera sets a limitation on continuous visual feedback due to their low sampling rate and redundant data in…
This paper presents EROAM, a novel event-based rotational odometry and mapping system that achieves real-time, accurate camera rotation estimation. Unlike existing approaches that rely on event generation models or contrast maximization,…
This paper provides a comprehensive survey on pioneer and state-of-the-art 3D scene geometry estimation methodologies based on single, two, or multiple images captured under the omnidirectional optics. We first revisit the basic concepts of…
Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. They offer significant advantages over standard cameras, namely a very high dynamic range, no motion blur, and a…
Visual odometry is the process of estimating the position and orientation of a camera by analyzing the images associated to it. This paper develops a quick and accurate approach to visual odometry of a moving RGB-D camera navigating on a…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. This paper introduces a novel camera calibration method using a designed collimator system. Our collimator system provides a reliable and controllable…
Image feature matching plays a vital role in many computer vision tasks. Although many image feature detection and matching techniques have been proposed over the past few decades, it is still time-consuming to match feature points in two…
While 360{\deg} cameras offer tremendous new possibilities in vision, graphics, and augmented reality, the spherical images they produce make core feature extraction non-trivial. Convolutional neural networks (CNNs) trained on images from…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
The increased use of low-cost gyroscopes within inertial sensors for navigation purposes, among others, has brought to the development of a considerable amount of research in improving their measurement precision. Aside from developing…
Despite the increasing prevalence of rotating-style capture (e.g., surveillance cameras), conventional stereo rectification techniques frequently fail due to the rotation-dominant motion and small baseline between views. In this paper, we…
Multi-view inverse rendering aims to recover geometry, materials, and illumination consistently across multiple viewpoints. When applied to multi-view images, existing single-view approaches often ignore cross-view relationships, leading to…
Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover. However, current robotic visual…
The integral image, an intermediate image representation, has found extensive use in multi-scale local feature detection algorithms, such as Speeded-Up Robust Features (SURF), allowing fast computation of rectangular features at constant…