Related papers: Learning to Anchor Visual Odometry: KAN-Based Pose…

The goal of 3D human motion prediction is to forecast future 3D poses of the human body based on historical motion data. Existing methods often face limitations in achieving a balance between prediction accuracy and computational…

The monocular visual-inertial system (VINS), which consists one camera and one low-cost inertial measurement unit (IMU), is a popular approach to achieve accurate 6-DOF state estimation. However, such locally accurate visual-inertial…

Kolmogorov-Arnold Networks (KANs) have recently emerged as a powerful alternative to traditional multilayer perceptrons. However, their reliance on predefined, bounded grids restricts their ability to approximate functions on unbounded…

We propose UnLoc, an efficient data-driven solution for sequential camera localization within floorplans. Floorplan data is readily available, long-term persistent, and robust to changes in visual appearance. We address key limitations of…

While originally designed for natural language processing tasks, the self-attention mechanism has recently taken various computer vision areas by storm. However, the 2D nature of images brings three challenges for applying self-attention in…

Drones are increasingly used in fields like industry, medicine, research, disaster relief, defense, and security. Technical challenges, such as navigation in GPS-denied environments, hinder further adoption. Research in visual odometry is…

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…

DreamerV3 is a state-of-the-art online model-based reinforcement learning (MBRL) algorithm known for remarkable sample efficiency. Concurrently, Kolmogorov-Arnold Networks (KANs) have emerged as a promising alternative to Multi-Layer…

Multi-view 3D geometry networks offer a powerful prior but are prohibitively slow for real-time applications. We propose a novel way to adapt them for online use, enabling real-time 6-DoF pose tracking and online reconstruction of objects…

We seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph with respect to a large indoor 3D map. The contributions of this work are three-fold. First, we develop a new large-scale visual localization method targeted for…

Motion forecasting often requires trading interpretability for predictive accuracy. Standard anchor-based architectures rely on opaque latent queries that are highly prone to latent collapse, or naive trajectory sampling that limits…

We present DINO Patch Visual Odometry (DINO-VO), an end-to-end monocular visual odometry system with strong scene generalization. Current Visual Odometry (VO) systems often rely on heuristic feature extraction strategies, which can degrade…

Ultrafast online learning is essential for high-frequency systems, such as controls for quantum computing and nuclear fusion, where adaptation must occur on sub-microsecond timescales. Meeting these requirements demands low-latency,…

Visual-LiDAR odometry is a critical component for autonomous system localization, yet achieving high accuracy and strong robustness remains a challenge. Traditional approaches commonly struggle with sensor misalignment, fail to fully…

A new Kolmogorov-Arnold network (KAN) is proposed to approximate potentially irregular functions in high dimensions. We provide error bounds for this approximation, assuming that the Kolmogorov-Arnold expansion functions are sufficiently…

Absolute Pose Regression (APR) has emerged as a compelling paradigm for visual localization. However, APR models typically operate as black boxes, directly regressing a 6-DoF pose from a query image, which can lead to memorizing training…

Map-based LiDAR pose tracking is essential for long-term autonomous operation, where onboard map priors need be compact for scalable storage and fast retrieval, while online observations are often partial, repetitive, and heavily occluded.…

Denial-of-Service (DoS) attacks pose a critical threat to Internet of Things (IoT) ecosystems, yet deploying effective intrusion detection on resource-constrained edge devices remains challenging. Kolmogorov-Arnold Networks (KANs) offer a…

The visual camera is an attractive device in beyond visual line of sight (B-VLOS) drone operation, since they are low in size, weight, power, and cost, and can provide redundant modality to GPS failures. However, state-of-the-art visual…

Recent advancements in deep learning for image classification predominantly rely on convolutional neural networks (CNNs) or Transformer-based architectures. However, these models face notable challenges in medical imaging, particularly in…