相关论文: STag: A Stable Fiducial Marker System
The choice of poses for camera calibration with planar patterns is only rarely considered - yet the calibration precision heavily depends on it. This work presents a pose selection method that finds a compact and robust set of calibration…
Neural surface reconstruction relies heavily on accurate camera poses as input. Despite utilizing advanced pose estimators like COLMAP or ARKit, camera poses can still be noisy. Existing pose-NeRF joint optimization methods handle poses…
Deep neural networks have demonstrated superior performance on appearance-based gaze estimation tasks. However, due to variations in person, illuminations, and background, performance degrades dramatically when applying the model to a new…
This work presents a finite-time stable pose estimator (FTS-PE) for rigid bodies undergoing rotational and translational motion in three dimensions, using measurements from onboard sensors that provide position vectors to inertially-fixed…
Point-based image editing has attracted remarkable attention since the emergence of DragGAN. Recently, DragDiffusion further pushes forward the generative quality via adapting this dragging technique to diffusion models. Despite these great…
Fair classification has been a topic of intense study in machine learning, and several algorithms have been proposed towards this important task. However, in a recent study, Friedler et al. observed that fair classification algorithms may…
Adding fiducial markers to a scene is a well-known strategy for making visual localization algorithms more robust. Traditionally, these marker locations are selected by humans who are familiar with visual localization techniques. This paper…
Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other…
Ensuring stable object placement is crucial to prevent objects from toppling over, breaking, or causing spills. When an object makes initial contact to a surface, and some force is exerted, the moment of rotation caused by the instability…
Real-time object pose estimation and tracking is challenging but essential for emerging augmented reality (AR) applications. In general, state-of-the-art methods address this problem using deep neural networks which indeed yield…
In this work, asymptotically stable state estimation schemes are proposed for rigid body motion, using the framework of geometric mechanics. Rigorous stability analyses of the estimation schemes presented here guarantee the nonlinear…
This paper investigates optimal fiducial marker placement on the surface of a satellite performing relative proximity operations with an observer satellite. The absolute and relative translation and attitude equations of motion for the…
Fiducial markers are a computer vision tool used for object pose estimation and detection. These markers are highly useful in fields such as industry, medicine and logistics. However, optimal lighting conditions are not always available,and…
We study feature selection in high-dimensional regression under two distinct sources of instability: sampling variability and measurement error in the design matrix. Stability Selection addresses the former through sub-sampling and…
Estimation of structure, such as in variable selection, graphical modelling or cluster analysis is notoriously difficult, especially for high-dimensional data. We introduce stability selection. It is based on subsampling in combination with…
Suture needle localization is necessary for autonomous suturing. Previous approaches in autonomous suturing often relied on fiducial markers rather than markerless detection schemes for localizing a suture needle due to the inconsistency of…
As one of the fundamental modules in autonomous driving, online high-definition (HD) maps have attracted significant attention due to their cost-effectiveness and real-time capabilities. Since vehicles always cruise in highly dynamic…
This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…
In this paper, we study an important yet less explored aspect in video detection and tracking -- stability. Surprisingly, there is no prior work that tried to study it. As a result, we start our work by proposing a novel evaluation metric…
We propose a method which, given a sequence of stereo foggy images, estimates the parameters of a fog model and updates them dynamically. In contrast with previous approaches, which estimate the parameters sequentially and thus are prone to…