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Outdoor visual localization is a crucial component to many computer vision systems. We propose an approach to localization from images that is designed to explicitly handle the strong variations in appearance happening between daytime and…
SinGAN shows impressive capability in learning internal patch distribution despite its limited effective receptive field. We are interested in knowing how such a translation-invariant convolutional generator could capture the global…
Multimodal large language models (MLLMs) have made significant progress in vision-language understanding, yet effectively aligning different modalities remains a fundamental challenge. We present a framework that unifies multimodal…
We introduce GSU, a text-only grid dataset to evaluate the spatial reasoning capabilities of LLMs over 3 core tasks: navigation, object localization, and structure composition. By forgoing visual inputs, isolating spatial reasoning from…
Determining the state of a mobile robot is an essential building block of robot navigation systems. In this paper, we address the problem of estimating the robots pose in an indoor environment using 2D LiDAR data and investigate how modern…
In this paper we provide an overview of a new framework for robot perception, real-world modelling, and navigation that uses a stochastic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a…
Recent advances in imitation learning have shown significant promise for robotic control and embodied intelligence. However, achieving robust generalization across diverse mounted camera observations remains a critical challenge. In this…
Multimodal intelligence development recently show strong progress in visual understanding and high level reasoning. Though, most reasoning system still reply on textual information as the main medium for inference. This limit their…
Visual localization remains challenging in dynamic environments where fluctuating lighting, adverse weather, and moving objects disrupt appearance cues. Despite advances in feature representation, current absolute pose regression methods…
Re-identification (ReID) is a critical challenge in computer vision, predominantly studied in the context of pedestrians and vehicles. However, robust object-instance ReID, which has significant implications for tasks such as autonomous…
Camera placement is crutial in multi-camera systems such as virtual reality, autonomous driving, and high-quality reconstruction. The camera placement challenge lies in the nonlinear nature of high-dimensional parameters and the…
We study an important, yet largely unexplored problem of large-scale cross-modal visual localization by matching ground RGB images to a geo-referenced aerial LIDAR 3D point cloud (rendered as depth images). Prior works were demonstrated on…
In this paper, we propose AimBot, a lightweight visual augmentation technique that provides explicit spatial cues to improve visuomotor policy learning in robotic manipulation. AimBot overlays shooting lines and scope reticles onto…
LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…
Reliable localization is one of the most important parts of an MAV system. Localization in an indoor GPS-denied environment is a relatively difficult problem. Current vision based algorithms track optical features to calculate odometry. We…
The deployment of autonomous agents in real-world scenarios is challenged by "unknown unknowns", i.e. novel unexpected environments not encountered during training, such as degraded signs. While existing research focuses on anomaly…
Accurate vehicle localization is a crucial step towards building effective Vehicle-to-Vehicle networks and automotive applications. Yet standard grade GPS data, such as that provided by mobile phones, is often noisy and exhibits significant…
Vision Transformer(ViT) is one of the most widely used models in the computer vision field with its great performance on various tasks. In order to fully utilize the ViT-based architecture in various applications, proper visualization…
We propose a novel positional encoding for learning graph on Transformer architecture. Existing approaches either linearize a graph to encode absolute position in the sequence of nodes, or encode relative position with another node using…
Visual grounding is a task to locate the target indicated by a natural language expression. Existing methods extend the generic object detection framework to this problem. They base the visual grounding on the features from pre-generated…