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The ability to capture rich representations of combinatorial structures has enabled the application of machine learning to tasks such as analysis and generation of floorplans, terrains, images, and animations. Recent work has primarily…
Can VLMs predict how each camera move changes the view, and plan many such moves ahead? We call this capability view planning, requiring (1)understanding how a single action transforms the view, and (2)composing many such transformations…
With the development of smart cities, the demand for continuous pedestrian navigation in large-scale urban environments has significantly increased. While global navigation satellite systems (GNSS) provide low-cost and reliable positioning…
Visual Place Recognition (VPR) is a core component in computer vision, typically formulated as an image retrieval task for localization, mapping, and navigation. In this work, we instead study VPR as an image pair retrieval front-end for…
With the proliferation of small aerial vehicles, acquiring close up aerial imagery for high quality reconstruction of complex scenes is gaining importance. We present an adaptive view planning method to collect such images in an automated…
Recently, Vision Graph Neural Network (ViG) has gained considerable attention in computer vision. Despite its groundbreaking innovation, Vision Graph Neural Network encounters key issues including the quadratic computational complexity…
Aerial imagery and its direct application to visual localization is an essential problem for many Robotics and Computer Vision tasks. While Global Navigation Satellite Systems (GNSS) are the standard default solution for solving the aerial…
Recent advances in Novel View Synthesis (NVS) and 3D generation have significantly improved editing tasks, with a primary emphasis on maintaining cross-view consistency throughout the generative process. Contemporary methods typically…
Recent work on 3D object detection advocates point cloud voxelization in birds-eye view, where objects preserve their physical dimensions and are naturally separable. When represented in this view, however, point clouds are sparse and have…
Traffic forecasting is a cornerstone of intelligent transportation systems. While existing research has made significant progress in short-term prediction, long-term forecasting remains a largely uncharted and challenging frontier.…
In contrast to extensive studies on general vision, pre-training for scalable visual autonomous driving remains seldom explored. Visual autonomous driving applications require features encompassing semantics, 3D geometry, and temporal…
3D Gaussian Splatting (3DGS) has rapidly become a leading technique for novel-view synthesis, providing exceptional performance through efficient software-based GPU rasterization. Its versatility enables real-time applications, including on…
Completely capturing the three-dimensional (3D) data of an object is essential in industrial and robotic applications. The task of next-best-view (NBV) planning is to calculate the next optimal viewpoint based on the current data, gradually…
In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve…
Visual Place Recognition (VPR) is the process of recognising a previously visited place using visual information, often under varying appearance conditions and viewpoint changes and with computational constraints. VPR is related to the…
Some perspectives naturally provide more information than others. How can an AI system determine which viewpoint offers the most valuable insight for accurate and efficient 3D object reconstruction? Active view selection (AVS) for 3D…
Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…
Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…
Visual token pruning methods effectively mitigate the quadratic computational growth caused by processing high-resolution images and video frames in vision-language models (VLMs). However, existing approaches rely on predefined pruning…
Viewpoint invariance remains challenging for visual recognition in the 3D world, as altering the viewing directions can significantly impact predictions for the same object. While substantial efforts have been dedicated to making neural…