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The ability to construct concise scene representations from sensor input is central to the field of robotics. This paper addresses the problem of robustly creating a 3D representation of a tabletop scene from a segmented RGB-D image. These…
This paper proposes a novel interdisciplinary framework for analyzing police body-worn camera (BWC) footage from the Rochester Police Department (RPD) using advanced artificial intelligence (AI) and statistical machine learning (ML)…
Underwater cameras are widely used to observe the sea floor. They are usually included in autonomous underwater vehicles, unmanned underwater vehicles, and in situ ocean sensor networks. Despite being an important sensor for monitoring…
With a single eye fixation lasting a fraction of a second, the human visual system is capable of forming a rich representation of a complex environment, reaching a holistic understanding which facilitates object recognition and detection.…
We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured…
Grasp verification is advantageous for autonomous manipulation robots as they provide the feedback required for higher level planning components about successful task completion. However, a major obstacle in doing grasp verification is…
We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…
Event camera is a new type of sensor that is different from traditional cameras. Each pixel is triggered asynchronously by an event. The trigger event is the change of the brightness irradiated on the pixel. If the increment or decrement is…
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…
"Scene description" applications that describe visual content in a photo are useful daily tools for blind and low vision (BLV) people. Researchers have studied their use, but they have only explored those that leverage remote sighted…
A building's environment has profound influence on occupant comfort and health. Continuous monitoring of building occupancy and environment is essential to fault detection, intelligent control, and building commissioning. Though many…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Camera sensor noise is one of the most reliable device characteristics in digital image forensics, enabling the unique linkage of images to digital cameras. This so-called camera fingerprint gives rise to different applications, such as…
Vision-based automatic counting of people has widespread applications in intelligent transportation systems, security, and logistics. However, there is currently no large-scale public dataset for benchmarking approaches on this problem.…
Local feature detection is a key ingredient of many image processing and computer vision applications, such as visual odometry and localization. Most existing algorithms focus on feature detection from a sharp image. They would thus have…
This paper introduces a complete method for the automatic detection, identification and localization of lighting elements in buildings, leveraging the available building information modeling (BIM) data of a building and feeding the BIM…
Modern information systems generate large volumes of data with anomalies that occur at unknown points in time and have to be detected quickly and reliably with low false alarm rates. The paper develops a general theory of quickest…
Recent researches show that deep learning model is susceptible to backdoor attacks. Many defenses against backdoor attacks have been proposed. However, existing defense works require high computational overhead or backdoor attack…
The event camera is a novel bio-inspired vision sensor. When the brightness change exceeds the preset threshold, the sensor generates events asynchronously. The number of valid events directly affects the performance of event-based tasks,…
Sun Glare widely exists in the images captured by unmanned ground and aerial vehicles performing in outdoor environments. The existence of such artifacts in images will result in wrong feature extraction and failure of autonomous systems.…