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This paper addresses the problem of head detection in crowded environments. Our detection is based entirely on the geometric consistency across cameras with overlapping fields of view, and no additional learning process is required. We…
In recent years, camera-based 3D object detection has gained widespread attention for its ability to achieve high performance with low computational cost. However, the robustness of these methods to adversarial attacks has not been…
We tackle the challenge of reliably and automatically localizing pedestrians in real-life conditions through overhead depth imaging at unprecedented high-density conditions. Leveraging upon a combination of Histogram of Oriented…
We propose to leverage the local information in image sequences to support global camera relocalization. In contrast to previous methods that regress global poses from single images, we exploit the spatial-temporal consistency in sequential…
Many outdoor autonomous mobile platforms require more human identity anonymized data to power their data-driven algorithms. The human identity anonymization should be robust so that less manual intervention is needed, which remains a…
In this paper we discuss a classical geometrical problem of estimating an unknown point's location in $\Real{n}$ from several noisy measurements of the Euclidean distances from this point to a set of known reference points (anchors). We…
Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwater robots. While acoustic sensing is the most acknowledged…
This paper presents a novel approach to pedestrian trajectory prediction for on-board camera systems, which utilizes behavioral features of pedestrians that can be inferred from visual observations. Our proposed method, called…
Visual localization is an attractive problem that estimates the camera localization from database images based on the query image. It is a crucial task for various applications, such as autonomous vehicles, assistive navigation and…
Recently, the use of smart cameras in outdoor settings has grown to improve surveillance and security. Nonetheless, these systems are susceptible to tampering, whether from deliberate vandalism or harsh environmental conditions, which can…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and…
The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…
Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…
Sensor-based Human Activity Recognition facilitates unobtrusive monitoring of human movements. However, determining the most effective sensor placement for optimal classification performance remains challenging. This paper introduces a…
Pedestrian detection in images is a topic that has been studied extensively, but existing detectors designed for perspective images do not perform as successfully on images taken with top-view fisheye cameras, mainly due to the orientation…
When a vehicle observes another one, the two vehicles' poses are correlated by this spatial relative observation, which can be used in cooperative localization for further increasing localization accuracy and precision. To use spatial…
We propose a strategy for improving camera location estimation in structure from motion. Our setting assumes highly corrupted pairwise directions (i.e., normalized relative location vectors), so there is a clear room for improving current…
In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…
In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…