Related papers: MGSfM: Multi-Camera Geometry Driven Global Structu…
Monocular scene flow estimation aims to recover dense 3D motion from image sequences, yet most existing methods are limited to two-frame inputs, restricting temporal modeling and robustness to occlusions. We propose RAFT-MSF++, a…
We introduce the problem of multi-camera trajectory forecasting (MCTF), which involves predicting the trajectory of a moving object across a network of cameras. While multi-camera setups are widespread for applications such as surveillance…
In this paper, we present a novel framework designed to reconstruct long-sequence 3D human motion in the world coordinates from in-the-wild videos with multiple shot transitions. Such long-sequence in-the-wild motions are highly valuable to…
Non-Rigid Structure-from-Motion (NRSfM) problem aims to recover 3D geometry of a deforming object from its 2D feature correspondences across multiple frames. Classical approaches to this problem assume a small number of feature points and,…
Contextual information can have a substantial impact on the performance of visual tasks such as semantic segmentation, object detection, and geometric estimation. Data stored in Geographic Information Systems (GIS) offers a rich source of…
Current non-rigid structure from motion (NRSfM) algorithms are mainly limited with respect to: (i) the number of images, and (ii) the type of shape variability they can handle. This has hampered the practical utility of NRSfM for many…
Intelligent transportation systems (ITS) localization is of significant importance as it provides fundamental position and orientation for autonomous operations like intelligent vehicles. Integrating diverse and complementary sensors such…
Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's physical shape and the surrounding environment when…
Global localization is essential for robots to perform further tasks like navigation. In this paper, we propose a new framework to perform global localization based on a filter-based visual-inertial odometry framework MSCKF. To reduce the…
Existing multi-camera SLAM systems assume synchronized shutters for all cameras, which is often not the case in practice. In this work, we propose a generalized multi-camera SLAM formulation which accounts for asynchronous sensor…
The present paper proposes optimization-based solutions to visual SLAM with a vehicle-mounted surround-view camera system. Owing to their original use-case, such systems often only contain a single camera facing into either direction and…
Non-rigid structure-from-motion (NRSfM) has so far been mostly studied for recovering 3D structure of a single non-rigid/deforming object. To handle the real world challenging multiple deforming objects scenarios, existing methods either…
The Modulation Transfer Function (MTF) is an important image quality metric typically used in the automotive domain. However, despite the fact that optical quality has an impact on the performance of computer vision in vehicle automation,…
Forecasting dynamic scenes remains a fundamental challenge in computer vision, as limited observations make it difficult to capture coherent object-level motion and long-term temporal evolution. We present Motion Group-aware Gaussian…
As one of the automotive sensors that have emerged in recent years, 4D millimeter-wave radar has a higher resolution than conventional 3D radar and provides precise elevation measurements. But its point clouds are still sparse and noisy,…
Multi-modality image fusion and segmentation play a vital role in autonomous driving and robotic operation. Early efforts focus on boosting the performance for only one task, \emph{e.g.,} fusion or segmentation, making it hard to…
The ultimate goal of video generation is to satisfy a fundamental trilemma: achieving high visual quality, maintaining rigorous physical consistency, and enabling precise controllability. While recent models can maintain this balance in…
In monocular videos that capture dynamic scenes, estimating the 3D geometry of video contents has been a fundamental challenge in computer vision. Specifically, the task is significantly challenged by the object motion, where existing…
This article describes a technique to augment a typical RGBD sensor by integrating depth estimates obtained via Structure-from-Motion (SfM) with sensor depth measurements. Limitations in the RGBD depth sensing technology prevent capturing…
Considerable advancements have been achieved in SLAM methods tailored for structured environments, yet their robustness under challenging corner cases remains a critical limitation. Although multi-sensor fusion approaches integrating…