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Despite much recent progress in video-based person re-identification (re-ID), the current state-of-the-art still suffers from common real-world challenges such as appearance similarity among various people, occlusions, and frame…
Polarimetric imaging captures surface polarization characteristics, such as the Degree of Linear Polarization (DoLP) and the Angle of Polarization (AoP). In mainstream Division of-Focal-Plane (DoFP) color polarization imaging, recovering…
Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…
Since a building's floorplan remains consistent over time and is inherently robust to changes in visual appearance, visual Floorplan Localization (FLoc) has received increasing attention from researchers. However, as a compact and…
Multi-view inverse rendering is the problem of estimating the scene parameters such as shapes, materials, or illuminations from a sequence of images captured under different viewpoints. Many approaches, however, assume single light bounce…
Visual obstacle discovery is a key step towards autonomous navigation of indoor mobile robots. Successful solutions have many applications in multiple scenes. One of the exceptions is the reflective ground. In this case, the reflections on…
X-ray ptychography is one of the versatile techniques for nanometer resolution imaging. The magnitude of the diffraction patterns is recorded on a detector and the phase of the diffraction patterns is estimated using phase retrieval…
Visual place recognition is a critical task in computer vision, especially for localization and navigation systems. Existing methods often rely on contrastive learning: image descriptors are trained to have small distance for similar images…
Polarization-based vision has gained increasing attention for providing richer physical cues beyond RGB images. While achieving single-shot capture is highly desirable for practical applications, existing Division-of-Focal-Plane (DoFP)…
Autonomous robot navigation in complex environments requires robust perception as well as high-level scene understanding due to perceptual challenges, such as occlusions, and uncertainty introduced by robot movement. For example, a robot…
Polarization information of the light can provide rich cues for computer vision and scene understanding tasks, such as the type of material, pose, and shape of the objects. With the advent of new and cheap polarimetric sensors, this imaging…
A polarization camera can capture four linear polarized images with different polarizer angles in a single shot, which is useful in polarization-based vision applications since the degree of linear polarization (DoLP) and the angle of…
The recent development of the on-chip micro-polarizer technology has made it possible to acquire four spatially aligned and temporally synchronized polarization images with the same ease of operation as a conventional camera. In this paper,…
Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…
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…
Phase-shifting structured illumination is a powerful technique used across diverse imaging modalities, including 3D surface measurement, quantitative phase imaging, and super-resolution microscopy. However, conventional implementations…
Combining multiple complementary techniques together has long been regarded as a way to improve performance. In visual localization, multi-sensor fusion, multi-process fusion of a single sensing modality, and even combinations of different…
Visual navigation and three-dimensional (3D) scene reconstruction are essential for robotics to interact with the surrounding environment. Large-scale scenes and critical camera motions are great challenges facing the research community to…
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…
Global localization is essential for robot navigation, of which the first step is to retrieve a query from the map database. This problem is called place recognition. In recent years, LiDAR scan based place recognition has drawn attention…