Related papers: VF-Plan: Bridging the Art Gallery Problem and Stat…
Vision Foundation Models (VFMs) have become a de facto choice for many downstream vision tasks, like image classification, image segmentation, and object localization. However, they can also provide significant utility for downstream 3D…
Autonomous vehicle manufacturers recognize that LiDAR provides accurate 3D views and precise distance measures under highly uncertain driving conditions. Its practical implementation, however, remains costly. This paper investigates the…
Neural implicit representations have revolutionized dense multi-view surface reconstruction, yet their performance significantly diminishes with sparse input views. A few pioneering works have sought to tackle the challenge of sparse-view…
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…
Multi-View Photometric Stereo (MVPS) is a popular method for fine-detailed 3D acquisition of an object from images. Despite its outstanding results on diverse material objects, a typical MVPS experimental setup requires a well-calibrated…
Spatial reasoning in 3D scenes requires precise geometric calculations that challenge vision-language models. Visual programming addresses this by decomposing problems into steps calling specialized tools, yet existing methods rely on…
Multi-view projection methods have demonstrated their ability to reach state-of-the-art performance on 3D shape recognition. Those methods learn different ways to aggregate information from multiple views. However, the camera view-points…
Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious…
UAV missions often require specific geometric constraints to be satisfied between ground locations and the vehicle location. Such requirements are typical for contexts where line-of-sight must be maintained between the vehicle location and…
We present a novel approach for inspecting variable data prints (VDP) with an ultra-low false alarm rate (0.005%) and potential applicability to other real-world problems. The system is based on a comparison between two images: a reference…
Visualization techniques for the decision space of continuous multi-objective optimization problems (MOPs) are rather scarce in research. For long, all techniques focused on global optimality and even for the few available landscape…
Video depth estimation is essential for providing 3D scene structure in applications ranging from autonomous driving to mixed reality. Current end-to-end video depth models have established state-of-the-art performance. Although current…
In this paper, we propose a new deep architecture for fusing camera and LiDAR sensors for 3D object detection. Because the camera and LiDAR sensor signals have different characteristics and distributions, fusing these two modalities is…
Long-term visual localization in outdoor environment is a challenging problem, especially faced with the cross-seasonal, bi-directional tasks and changing environment. In this paper we propose a novel visual inertial localization framework…
Inspection planning is concerned with computing the shortest robot path to inspect a given set of points of interest (POIs) using the robot's sensors. This problem arises in a wide range of applications from manufacturing to medical…
Vision Transformers (ViTs) have demonstrated state-ofthe-art performance in several benchmarks, yet their high computational costs hinders their practical deployment. Patch Pruning offers significant savings, but existing approaches…
Voxel-based methods have achieved state-of-the-art performance for 3D object detection in autonomous driving. However, their significant computational and memory costs pose a challenge for their application to resource-constrained vehicles.…
Inspection systems utilizing unmanned aerial vehicles (UAVs) equipped with thermal cameras are increasingly popular for the maintenance of photovoltaic (PV) power plants. However, automation of the inspection task is a challenging problem…
Visual Place Recognition (VPR) aims to match a query image to reference images of the same place in a large-scale database. Recent state-of-the-art methods employ Vision Transformers (ViTs) as backbone foundation models to extract…
Reliable pipeline inspection is critical to safe energy transportation, but is constrained by long distances, complex terrain, and risks to human inspectors. Unmanned aerial vehicles provide a flexible sensing platform, yet reliable…