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We present a novel deep learning-based framework: Embedded Feature Similarity Optimization with Specific Parameter Initialization (SOPI) for 2D/3D medical image registration which is a most challenging problem due to the difficulty such as…
We present RiEMann, an end-to-end near Real-time SE(3)-Equivariant Robot Manipulation imitation learning framework from scene point cloud input. Compared to previous methods that rely on descriptor field matching, RiEMann directly predicts…
We revisit the nonlinear complimentary filter on $SO(3)$, previously proposed in the literature, and provide the (time-explicit) solution to the matrix ODE governing the attitude estimation error in the absence of measurement errors. The…
Dense 3D shape correspondence remains a central challenge in computer vision and graphics as many deep learning approaches still rely on intermediate geometric features or handcrafted descriptors, limiting their effectiveness under…
An explicit series solution is proposed for the inversion of the spherical mean Radon transform. Such an inversion is required in problems of thermo- and photo- acoustic tomography. Closed-form inversion formulae are currently known only…
We present a new $\texttt{python}$ package SARABANDE for measuring 3 & 4 Point Correlation Functions (3/4 PCFs) in $\mathcal{O}(N_{\rm g} \log N_{\rm g})$ time using Fast Fourier Transforms (FFTs), with $N_{\rm g}$ the number of grid points…
The tremendous challenge of comparing our theoretical models with the gravitational-wave observations in the new era of multimessenger astronomy requires accurate and fast numerical simulations of complicated physical systems described by…
Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…
Recently, Zhuang, Roth, \& Sudhakar [1] proposed a method that allows simultaneous computation of the rigid transformations from world frame to robot base frame and from hand frame to camera frame. Their method attempts to solve a…
With the increasing adoption of vision-language models (VLMs) in critical decision-making systems such as healthcare or autonomous driving, the calibration of their uncertainty estimates becomes paramount. Yet, this dimension has been…
Many robotics applications require alignment and fusion of observations obtained at multiple views to form a global model of the environment. Multi-way data association methods provide a mechanism to improve alignment accuracy of pairwise…
Entity alignment (EA) aims to find the equivalent entities in different KGs, which is a crucial step in integrating multiple KGs. However, most existing EA methods have poor scalability and are unable to cope with large-scale datasets. We…
This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. This paper introduces a novel camera calibration method using a designed collimator system. Our collimator system provides a reliable and controllable…
To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes…
Establishing correspondences between 3D shapes is a fundamental task in 3D Computer Vision, typically addressed by matching local descriptors. Recently, a few attempts at applying the deep learning paradigm to the task have shown promising…
We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesired equilibria that precludes smooth vectors fields on…
Recent advances in deep learning and Transformers have driven major breakthroughs in robotics by employing techniques such as imitation learning, reinforcement learning, and LLM-based multimodal perception and decision-making. However,…
Orientation estimation is the core to a variety of vision and robotics tasks such as camera and object pose estimation. Deep learning has offered a way to develop image-based orientation estimators; however, such estimators often require…
A rapid transformation is derived between spherical harmonic expansions and their analogues in a bivariate Fourier series. The change of basis is described in two steps: firstly, expansions in normalized associated Legendre functions of all…