Related papers: Generalized Maximum Likelihood Estimation for Pers…
Multilook coherent imaging is a widely used technique in applications such as digital holography, ultrasound imaging, and synthetic aperture radar. A central challenge in these systems is the presence of multiplicative noise, commonly known…
Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…
A deterministic attitude estimation problem for a rigid body in a potential field, with bounded attitude and angular velocity measurement errors is considered. An attitude estimation algorithm that globally minimizes the attitude estimation…
In the rapidly evolving field of computer vision, the task of accurately estimating the poses of multiple individuals from various viewpoints presents a formidable challenge, especially if the estimations should be reliable as well. This…
This paper presents a probabilistic generalization of the Generalized Optimal Sub-Pattern Assignment (GOSPA) metric, termed P-GOSPA. The GOSPA metric has been widely used to evaluate the distance between finite sets, particularly in…
Unmanned Aerial Vehicle (UAV) Vision-and-Language Navigation (VLN) is vital for applications such as disaster response, logistics delivery, and urban inspection. However, existing methods often struggle with insufficient multimodal fusion,…
Pose estimation is one of the most important problems in computer vision. It can be divided in two different categories -- absolute and relative -- and may involve two different types of camera models: central and non-central.…
We introduce a new paradigm for solving regularized variational problems. These are typically formulated to address ill-posed inverse problems encountered in signal and image processing. The objective function is traditionally defined by…
In recent years, 2D human pose estimation has made significant progress on public benchmarks. However, many of these approaches face challenges of less applicability in the industrial community due to the large number of parametric…
This work addresses the certification of the local robustness of vision-based two-stage 6D object pose estimation. The two-stage method for object pose estimation achieves superior accuracy by first employing deep neural network-driven…
Image deblurring is a notoriously challenging ill-posed inverse problem. In recent years, a wide variety of approaches have been proposed based upon regularization at the level of the image or on techniques from machine learning. We propose…
The rolling shutter camera has received great attention due to its low cost imaging capability, however, the estimation of relative pose between rolling shutter cameras still remains a difficult problem owing to its line-by-line image…
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…
We propose the use of a Transformer to accurately predict normals from point clouds with noise and density variations. Previous learning-based methods utilize PointNet variants to explicitly extract multi-scale features at different input…
Point cloud registration is a fundamental and challenging problem for autonomous robots interacting in unstructured environments for applications such as object pose estimation, simultaneous localization and mapping, robot-sensor…
Estimating metric relative camera pose from a pair of images is of great importance for 3D reconstruction and localisation. However, conventional two-view pose estimation methods are not metric, with camera translation known only up to a…
We have developed a new method to estimate a Next Viewpoint (NV) which is effective for pose estimation of simple-shaped products for product display robots in retail stores. Pose estimation methods using Neural Networks (NN) based on an…
Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…
Most modern image-based 6D object pose estimation methods learn to predict 2D-3D correspondences, from which the pose can be obtained using a PnP solver. Because of the non-differentiable nature of common PnP solvers, these methods are…
Change point estimation is often formulated as a search for the maximum of a gain function describing improved fits when segmenting the data. Searching through all candidates requires $O(n)$ evaluations of the gain function for an interval…