相关论文: STag: A Stable Fiducial Marker System
Eye-tracking technology is an integral component of new display devices such as virtual and augmented reality headsets. Applications of gaze information range from new interaction techniques exploiting eye patterns to gaze-contingent…
Structural stability is a necessary condition for successful construction of an assembly. However, designing a stable assembly requires a non-trivial effort since a slight variation in the design could significantly affect the structural…
Gait recognition is an important biometric technique for video surveillance tasks, due to the advantage of using it at distance. In this paper, we present a persistent homology-based method to extract topological features (the so-called…
Indoor localization of autonomous mobile robots (AMRs) can be realized with fiducial markers. Such systems require only a simple, monocular camera as sensor and fiducial markers as passive, identifiable position references that can be…
In this paper, we focus on improving the online face liveness detection system to enhance the security of the downstream face recognition system. Most of the existing frame-based methods are suffering from the prediction inconsistency…
This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. First, novel classes of certificate functions, namely…
Stochastic Gradient Descent (SGD) stands as a cornerstone optimization algorithm with proven real-world empirical successes but relatively limited theoretical understanding. Recent research has illuminated a key factor contributing to its…
Recent image generators produce photo-realistic content that undermines the reliability of downstream recognition systems. As visual appearance cues become less pronounced, appearance-driven detectors that rely on forensic cues or…
Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on…
Existing 3D anomaly detection methods are built on a rigid prior: normal geometry is pose-invariant and can be canonicalized through registration or alignment. This prior does not hold for articulated objects with hinge or sliding joints,…
Current approaches to grasp planning for robotics demonstrate high success rates, but degrade with noisy sensors and other factors. Previous works have proposed tactile-based grasp stability classifiers to detect failures, but these…
Robust local feature detection and description are foundational tasks in computer vision. Existing methods primarily rely on single appearance cues for modeling, leading to unstable keypoints and insufficient descriptor discriminability. In…
Vision-centric semantic occupancy prediction plays a crucial role in autonomous driving, which requires accurate and reliable predictions from low-cost sensors. Although having notably narrowed the accuracy gap with LiDAR, there is still…
Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or…
Contact-based grasp generation plays a crucial role in various applications. Recent methods typically focus on the geometric structure of objects, producing grasps with diverse hand poses and plausible contact points. However, these…
Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
Most Gaze estimation research only works on a setup condition that a camera perfectly captures eyes gaze. They have not literarily specified how to set up a camera correctly for a given position of a person. In this paper, we carry out a…
Point sets matching method is very important in computer vision, feature extraction, fingerprint matching, motion estimation and so on. This paper proposes a robust point sets matching method. We present an iterative algorithm that is…
Visual localization algorithms, i.e., methods that estimate the camera pose of a query image in a known scene, are core components of many applications, including self-driving cars and augmented / mixed reality systems. State-of-the-art…