Related papers: Unifying Scene Representation and Hand-Eye Calibra…
The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…
The encoder-decoder framework has become widely popular nowadays. In this model, the encoder extracts informative visual features from an input image, and the decoder employs a sequence-to-sequence formulation to generate the corresponding…
Estimating the pose of a camera with respect to a 3D reconstruction or scene representation is a crucial step for many mixed reality and robotics applications. Given the vast amount of available data nowadays, many applications constrain…
Previous methods for representing scene images based on deep learning primarily consider either the foreground or background information as the discriminating clues for the classification task. However, scene images also require additional…
Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…
We introduce ROGR, a novel approach that reconstructs a relightable 3D model of an object captured from multiple views, driven by a generative relighting model that simulates the effects of placing the object under novel environment…
The integration of multiple cameras and 3D Li- DARs has become basic configuration of augmented reality devices, robotics, and autonomous vehicles. The calibration of multi-modal sensors is crucial for a system to properly function, but it…
In this paper, a mobile camera positioning method based on forward and inverse kinematics of robot is proposed, which can realize far point positioning of imaging position and attitude tracking in large scene enhancement. Orbit precision…
Image harmonization is an important step in photo editing to achieve visual consistency in composite images by adjusting the appearances of foreground to make it compatible with background. Previous approaches to harmonize composites are…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
In this paper, we propose an adaptive keyframe selection method for improved 3D scene reconstruction in dynamic environments. The proposed method integrates two complementary modules: an error-based selection module utilizing photometric…
Camera calibration is an important prerequisite towards the solution of 3D computer vision problems. Traditional methods rely on static images of a calibration pattern. This raises interesting challenges towards the practical usage of event…
As a promising fashion for visual localization, scene coordinate regression (SCR) has seen tremendous progress in the past decade. Most recent methods usually adopt neural networks to learn the mapping from image pixels to 3D scene…
Reconstruction of deformable scenes from endoscopic videos is important for many applications such as intraoperative navigation, surgical visual perception, and robotic surgery. It is a foundational requirement for realizing autonomous…
Neural Radiance Fields (NeRF) have recently gained a surge of interest within the computer vision community for its power to synthesize photorealistic novel views of real-world scenes. One limitation of NeRF, however, is its requirement of…
To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…
Joint communication and radar sensing (JCR) represents an emerging research field aiming to integrate the above two functionalities into a single system, sharing a majority of hardware and signal processing modules and, in a typical case,…
Camera-to-robot (also known as eye-to-hand) calibration is a critical component of vision-based robot manipulation. Traditional marker-based methods often require human intervention for system setup. Furthermore, existing autonomous…
We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…
The state of the art in 3D object detection using sensor fusion heavily relies on calibration quality, which is difficult to maintain in large scale deployment outside a lab environment. We present the first calibration-free approach for 3D…