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Recent advances in 3D Gaussian Splatting (3DGS) deliver striking photorealism, and extending it to large scenes opens new opportunities for semantic reasoning and prediction in applications such as autonomous driving. Today's…
Detecting and localizing objects in the real 3D space, which plays a crucial role in scene understanding, is particularly challenging given only a single RGB image due to the geometric information loss during imagery projection. We propose…
Depth imaging is a crucial area in Autonomous Driving Systems (ADS), as it plays a key role in detecting and measuring objects in the vehicle's surroundings. However, a significant challenge in this domain arises from missing information in…
Monocular depth estimation is a highly challenging problem that is often addressed with deep neural networks. While these are able to use recognition of image features to predict reasonably looking depth maps the result often has low metric…
Performing single image holistic understanding and 3D reconstruction is a central task in computer vision. This paper presents an integrated system that performs dense scene labeling, object detection, instance segmentation, depth…
Generalizing metric monocular depth estimation presents a significant challenge due to its ill-posed nature, while the entanglement between camera parameters and depth amplifies issues further, hindering multi-dataset training and zero-shot…
Most geometric approaches to monocular Visual Odometry (VO) provide robust pose estimates, but sparse or semi-dense depth estimates. Off late, deep methods have shown good performance in generating dense depths and VO from monocular images…
Single-view RGB model-based object pose estimation methods achieve strong generalization but are fundamentally limited by depth ambiguity, clutter, and occlusions. Multi-view pose estimation methods have the potential to solve these issues,…
Background: Pose estimation of rigid objects is a practical challenge in optical metrology and computer vision. This paper presents a novel stochastic-geometrical modeling framework for object pose estimation based on observing multiple…
With monocular Visual-Inertial Odometry (VIO) system, 3D point cloud and camera motion can be estimated simultaneously. Because pure sparse 3D points provide a structureless representation of the environment, generating 3D mesh from sparse…
Reconstructing real-world objects from multi-view images is essential for applications in 3D editing, AR/VR, and digital content creation. Existing methods typically prioritize either geometric accuracy (Multi-View Stereo) or photorealistic…
In this paper, we introduce a method to automatically reconstruct the 3D motion of a person interacting with an object from a single RGB video. Our method estimates the 3D poses of the person and the object, contact positions, and forces…
Monocular depth estimation involves predicting depth from a single RGB image and plays a crucial role in applications such as autonomous driving, robotic navigation, 3D reconstruction, etc. Recent advancements in learning-based methods have…
Visual Grounding (VG) aims to locate the most relevant region in an image, based on a flexible natural language query but not a pre-defined label, thus it can be a more useful technique than object detection in practice. Most…
Pretrained visual-language models have made significant advancements in multimodal tasks, including image-text retrieval. However, a major challenge in image-text matching lies in language bias, where models predominantly rely on language…
Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes…
Semantic correspondence made tremendous progress through the recent advancements of large vision models (LVM). While these LVMs have been shown to reliably capture local semantics, the same can currently not be said for capturing global…
Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocular RGB VO where the input is a monocular RGB video without…
In many automation tasks involving manipulation of rigid objects, the poses of the objects must be acquired. Vision-based pose estimation using a single RGB or RGB-D sensor is especially popular due to its broad applicability. However,…
RGB video object tracking is a fundamental task in computer vision. Its effectiveness can be improved using depth information, particularly for handling motion-blurred target. However, depth information is often missing in commonly used…