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Extensions of Neural Radiance Fields (NeRFs) to model dynamic scenes have enabled their near photo-realistic, free-viewpoint rendering. Although these methods have shown some potential in creating immersive experiences, two drawbacks limit…
Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
3D perception tasks, such as 3D object detection and Bird's-Eye-View (BEV) segmentation using multi-camera images, have drawn significant attention recently. Despite the fact that accurately estimating both semantic and 3D scene layouts are…
Advances in 3D reconstruction and novel view synthesis have enabled efficient and photorealistic rendering. However, images for reconstruction are still either largely manual or constrained by simple preplanned trajectories. To address this…
Motivated by the advances in 3D sensing technology and the spreading of low-cost robotic platforms, 3D object reconstruction has become a common task in many areas. Nevertheless, the selection of the optimal sensor pose that maximizes the…
The image annotation stage is a critical and often the most time-consuming part required for training and evaluating object detection and semantic segmentation models. Deployment of the existing models in novel environments often requires…
Autonomous driving requires forecasting both geometry and semantics over time to effectively reason about future environment states. Existing vision-based occupancy forecasting methods focus on motion-related categories such as static and…
Next-Best View (NBV) planning is a long-standing problem of determining where to obtain the next best view of an object from, by a robot that is viewing the object. There are a number of methods for choosing NBV based on the observed part…
Predicting the future location of mobile objects reinforces location-aware services with proactive intelligence and helps businesses and decision-makers with better planning and near real-time scheduling in different applications such as…
We introduce a new multi-modal task for computer systems, posed as a combined vision-language comprehension challenge: identifying the most suitable text describing a scene, given several similar options. Accomplishing the task entails…
Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene before attempting a grasp. This paper proposes a closed-loop…
The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…
Next Best View (NBV) algorithms aim to maximize 3D scene acquisition quality using minimal resources, e.g. number of acquisitions, time taken, or distance traversed. Prior methods often rely on coverage maximization as a proxy for…
Next Location Prediction is a fundamental task in the study of human mobility, with wide-ranging applications in transportation planning, urban governance, and epidemic forecasting. In practice, when humans attempt to predict the next…
We address the problem where a mobile search agent seeks to find an unknown number of stationary objects distributed in a bounded search domain, and the search mission is subject to time/distance constraint. Our work accounts for false…
With the proliferation of imaging sensors, the volume of multi-modal imagery far exceeds the ability of human analysts to adequately consume and exploit it. Full motion video (FMV) possesses the extra challenge of containing large amounts…
Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…
State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…
Understanding where drivers direct their visual attention during driving, as characterized by gaze behavior, is critical for developing next-generation advanced driver-assistance systems and improving road safety. This paper tackles this…