相关论文: A Comparison of I/O-Efficient Algorithms for Visib…

We propose VISO-Grasp, a novel vision-language-informed system designed to systematically address visibility constraints for grasping in severely occluded environments. By leveraging Foundation Models (FMs) for spatial reasoning and active…

Mapper is an algorithm that summarizes the topological information contained in a dataset and provides an insightful visualization. It takes as input a point cloud which is possibly high-dimensional, a filter function on it and an open…

State-of-the-art forward facing monocular visual-inertial odometry algorithms are often brittle in practice, especially whilst dealing with initialisation and motion in directions that render the state unobservable. In such cases having a…

Visual error metrics play a fundamental role in the quantification of perceived image similarity. Most recently, use cases for them in real-time applications have emerged, such as content-adaptive shading and shading reuse to increase…

Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…

Visibility information is critical in game AI applications, but the computational cost of raycasting-based methods poses a challenge for real-time systems. To address this challenge, we propose a novel method that represents a partitioned…

Multimodal large language models (MLLMs) have shown remarkable capabilities in a wide range of vision-language tasks. However, the large number of visual tokens introduces significant computational overhead. To address this issue, visual…

We present a Reinforcement Learning (RL) solution to the view planning problem (VPP), which generates a sequence of view points that are capable of sensing all accessible area of a given object represented as a 3D model. In doing so, the…

Computer Vision techniques represent a class of algorithms that are highly computation and data intensive in nature. Generally, performance of these algorithms in terms of execution speed on desktop computers is far from real-time. Since…

Accurate 3D object detection in all weather conditions remains a key challenge to enable the widespread deployment of autonomous vehicles, as most work to date has been performed on clear weather data. In order to generalize to adverse…

We present a new meshing algorithm called guided and augmented meshing, GAMesh, which uses a mesh prior to generate a surface for the output points of a point network. By projecting the output points onto this prior and simplifying the…

Visual-Inertial Odometry (VIO) algorithms typically rely on a point cloud representation of the scene that does not model the topology of the environment. A 3D mesh instead offers a richer, yet lightweight, model. Nevertheless, building a…

The computation of the geometric transformation between a reference and a target image, known as registration or alignment, corresponds to the projection of the target image onto the transformation manifold of the reference image (the set…

Vision, as an inexpensive yet information rich sensor, is commonly used for perception on autonomous mobile robots. Unfortunately, accurate vision-based perception requires a number of assumptions about the environment to hold -- some…

Visibility plays an important role for decision making in cluttered, uncertain environments. This paper considers the problem of identifying optimal hiding spots for an agent against line-of-sight detection by an adversary whose location is…

The path planning problem for autonomous exploration of an unknown region by a robotic agent typically employs frontier-based or information-theoretic heuristics. Frontier-based heuristics typically evaluate the information gain of a…

Visual Place Recognition (VPR) is fundamental for the global re-localization of robots and devices, enabling them to recognize previously visited locations based on visual inputs. This capability is crucial for maintaining accurate mapping…

Jointly estimating camera poses and mapping scenes from RGBD images is a fundamental task in simultaneous localization and mapping (SLAM). State-of-the-art methods employ 3D Gaussians to represent a scene, and render these Gaussians through…

Computer vision algorithms are known to be extremely sensitive to the environmental conditions in which the data is captured, e.g., lighting conditions and target density. Tuning of parameters or choosing a completely new algorithm is often…

In radio astronomy obtaining a high dynamic range in synthesis imaging of wide fields requires a correction for time and direction-dependent effects. Applying direction-dependent correction can be done by either partitioning the image in…