相关论文: LMap: Shape-Preserving Local Mappings for Biomedic…

We propose a new shape analysis approach based on the non-local analysis of local shape variations. Our method relies on a novel description of shape variations, called Local Probing Field (LPF), which describes how a local probing operator…

For image recognition, an extensive number of methods have been proposed to overcome the high-dimensionality problem of feature vectors being used. These methods vary from unsupervised to supervised, and from statistics to graph-theory…

Autonomous systems need to understand the semantics and geometry of their surroundings in order to comprehend and safely execute object-level task specifications. This paper proposes an expressive yet compact model for joint object pose and…

Trajectory planning in unstructured environments is a fundamental and challenging capability for mobile robots. Traditional modular pipelines suffer from latency and cascading errors across perception, localization, mapping, and planning…

Grounding language to the visual observations of a navigating agent can be performed using off-the-shelf visual-language models pretrained on Internet-scale data (e.g., image captions). While this is useful for matching images to natural…

We present a novel method for visual mapping and localization for autonomous vehicles, by extracting, modeling, and optimizing semantic road elements. Specifically, our method integrates cascaded deep models to detect standardized road…

Organoids are three-dimensional (3D) in vitro models for studying tissue development, disease progression, and physiological responses. Holotomography (HT) enables long-term, label-free imaging of live organoids by reconstructing volumetric…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

Anomaly detection and localization in medical imaging remain critical challenges in healthcare. This paper introduces Spatial-MSMA (Multiscale Score Matching Analysis), a novel unsupervised method for anomaly localization in volumetric…

For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…

We introduce a linear dimensionality reduction technique preserving topological features via persistent homology. The method is designed to find linear projection $L$ which preserves the persistent diagram of a point cloud $\mathbb{X}$ via…

This paper studies the problem of image-goal navigation which involves navigating to the location indicated by a goal image in a novel previously unseen environment. To tackle this problem, we design topological representations for space…

The fine-grained surface reconstruction of different organs from 3D medical imaging can provide advanced diagnostic support and improved surgical planning. However, the representation of the organs is often limited by the resolution, with a…

This paper presents Vision-Language Global Localization (VLG-Loc), a novel global localization method that uses human-readable labeled footprint maps containing only names and areas of distinctive visual landmarks in an environment. While…

This paper implements Simultaneous Localization and Mapping (SLAM) technique to construct a map of a given environment. A Real Time Appearance Based Mapping (RTAB-Map) approach was taken for accomplishing this task. Initially, a 2d…

3D face reconstruction technology aims to generate a face stereo model naturally and realistically. Previous deep face reconstruction approaches are typically designed to generate convincing textures and cannot generalize well to multiple…

Large vision-language models (LVLMs) achieve strong multimodal understanding, but their inference cost grows rapidly with the number of visual tokens, especially for high-resolution images and long videos. Existing attention-based methods…

Dimension reduction (DR) algorithms have proven to be extremely useful for gaining insight into large-scale high-dimensional datasets, particularly finding clusters in transcriptomic data. The initial phase of these DR methods often…

The architecture of multimodal large language models (MLLMs) commonly connects a vision encoder, often based on CLIP-ViT, to a large language model. While CLIP-ViT works well for capturing global image features, it struggles to model local…

We introduce a novel method for updating 3D geospatial models, specifically targeting occlusion removal in large-scale maritime environments. Traditional 3D reconstruction techniques often face problems with dynamic objects, like cars or…