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3D Gaussian Splatting (3DGS) has revolutionized real-time rendering with its state-of-the-art novel view synthesis, but its utility for accurate geometric measurement remains underutilized. Compared to multi-view stereo (MVS) point clouds…
In an environment where acoustic privacy or deliberate signal obfuscation is desired, it is necessary to mask the acoustic signature generated in essential operations. We consider the problem of masking the effect of an acoustic source in a…
Depth completion and object detection are two crucial tasks often used for aerial 3D mapping, path planning, and collision avoidance of Uncrewed Aerial Vehicles (UAVs). Common solutions include using measurements from a LiDAR sensor;…
The 3D pose estimation from a single image is a challenging problem due to depth ambiguity. One type of the previous methods lifts 2D joints, obtained by resorting to external 2D pose detectors, to the 3D space. However, this type of…
Measuring 3D geometric structures of indoor scenes requires dedicated depth sensors, which are not always available. Echo-based depth estimation has recently been studied as a promising alternative solution. All previous studies have…
Moving around in the world is naturally a multisensory experience, but today's embodied agents are deaf---restricted to solely their visual perception of the environment. We introduce audio-visual navigation for complex, acoustically and…
We present two versatile methods to generally enhance self-supervised monocular depth estimation (MDE) models. The high generalizability of our methods is achieved by solving the fundamental and ubiquitous problems in photometric loss…
Proprioceptive-only state estimation is attractive for legged robots since it is computationally cheaper and is unaffected by perceptually degraded conditions. The history of joint-level measurements contains rich information that can be…
3D human pose estimation is frequently seen as the task of estimating 3D poses relative to the root body joint. Alternatively, we propose a 3D human pose estimation method in camera coordinates, which allows effective combination of 2D…
Accurately localizing 3D sound sources and estimating their semantic labels -- where the sources may not be visible, but are assumed to lie on the physical surface of objects in the scene -- have many real applications, including detecting…
This paper proposes a novel approach for extending monocular visual odometry to a stereo camera system. The proposed method uses an additional camera to accurately estimate and optimize the scale of the monocular visual odometry, rather…
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…
Articulation-centric 2D/3D pose supervision forms the core training objective in most existing 3D human pose estimation techniques. Except for synthetic source environments, acquiring such rich supervision for each real target domain at…
This paper shows that accurate underwater 3D shape reconstruction is possible using a single camera, observing a target through a refractive interface. We provide unified reconstruction techniques for a variety of scenarios such as single…
Accurate real depth annotations are difficult to acquire, needing the use of special devices such as a LiDAR sensor. Self-supervised methods try to overcome this problem by processing video or stereo sequences, which may not always be…
Underwater acoustic target recognition has emerged as a prominent research area within the field of underwater acoustics. However, the current availability of authentic underwater acoustic signal recordings remains limited, which hinders…
Exploring the significance of geo-tagged information of a satellite image and associated shadow information in the image to enable man-made infrastructure dimensional characterization, in this paper a novel approach has been developed to…
While a traditional camera only captures one point of view of a scene, a plenoptic or light-field camera, is able to capture spatial and angular information in a single snapshot, enabling depth estimation from a single acquisition. In this…
Recovering 3D human mesh from monocular images is a popular topic in computer vision and has a wide range of applications. This paper aims to estimate 3D mesh of multiple body parts (e.g., body, hands) with large-scale differences from a…
Reliable building height estimation is essential for various urban applications. Spaceborne SAR tomography (TomoSAR) provides weather-independent, side-looking observations that capture facade-level structure, offering a promising…