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Visual localization is the task of estimating a 6-DoF camera pose of a query image within a provided 3D reference map. Thanks to recent advances in various 3D sensors, 3D point clouds are becoming a more accurate and affordable option for…

Probabilistic 3D map has been applied to object segmentation with multiple camera viewpoints, however, conventional methods lack of real-time efficiency and functionality of multilabel object mapping. In this paper, we propose a method to…

The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…

Reconstructing hand-held objects in 3D from monocular images remains a significant challenge in computer vision. Most existing approaches rely on implicit 3D representations, which produce overly smooth reconstructions and are…

Robots operating in populated environments encounter many different types of people, some of whom might have an advanced need for cautious interaction, because of physical impairments or their advanced age. Robots therefore need to…

3D hand-mesh reconstruction from RGB images facilitates many applications, including augmented reality (AR). However, this requires not only real-time speed and accurate hand pose and shape but also plausible mesh-image alignment. While…

We present a novel method for populating 3D indoor scenes with virtual humans that can navigate in the environment and interact with objects in a realistic manner. Existing approaches rely on training sequences that contain captured human…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

We consider the problem of retrieving a target object from a confined space by two robotic manipulators where overhand grasps are not allowed. If other movable obstacles occlude the target, more than one object should be relocated to clear…

This paper presents an accurate and fast 3D global localization method, 3D-BBS, that extends the existing branch-and-bound (BnB)-based 2D scan matching (BBS) algorithm. To reduce memory consumption, we utilize a sparse hash table for…

Person re-identification aims to identify a specific person at distinct times and locations. It is challenging because of occlusion, illumination, and viewpoint change in camera views. Recently, multi-shot person re-id task receives more…

Despite remarkable progress in image generation models, generating realistic hands remains a persistent challenge due to their complex articulation, varying viewpoints, and frequent occlusions. We present FoundHand, a large-scale…

Hand gesture-based human-computer interaction is an important problem that is well explored using color camera data. In this work we proposed a hand gesture detection system using thermal images. Our system is capable of handling multiple…

We present two novel solutions for multi-view 3D human pose estimation based on new learnable triangulation methods that combine 3D information from multiple 2D views. The first (baseline) solution is a basic differentiable algebraic…

Realtime multi-person 2D pose estimation is a key component in enabling machines to have an understanding of people in images and videos. In this work, we present a realtime approach to detect the 2D pose of multiple people in an image. The…

Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong…

An algorithm to efficiently compute the moments of volumetric images is disclosed. The approach demonstrates a reduction in processing time by reducing the computational complexity significantly. Specifically, the algorithm reduces…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

Capturing a 3D human body is one of the important tasks in computer vision with a wide range of applications such as virtual reality and sports analysis. However, conventional frame cameras are limited by their temporal resolution and…

As a fundamental and challenging problem in computer vision, hand pose estimation aims to estimate the hand joint locations from depth images. Typically, the problem is modeled as learning a mapping function from images to hand joint…