相关论文: Depth from Small Motion using Rank-1 Initializatio…

We study the problem of recovering a low-tubal-rank tensor $\mathcal{X}\_\star\in \mathbb{R}^{n \times n \times k}$ from noisy linear measurements under the t-product framework. A widely adopted strategy involves factorizing the…

Calibrating large-scale camera arrays, such as those in dome-based setups, is time-intensive and typically requires dedicated captures of known patterns. While extrinsics in such arrays are fixed due to the physical setup, intrinsics often…

Affine rank minimization algorithms typically rely on calculating the gradient of a data error followed by a singular value decomposition at every iteration. Because these two steps are expensive, heuristic approximations are often used to…

The performance of Deep Neural Networks (DNNs) keeps elevating in recent years with increasing network depth and width. To enable DNNs on edge devices like mobile phones, researchers proposed several network compression methods including…

We propose a robust and fast bundle adjustment solution that estimates the 6-DoF pose of the camera and the geometry of the environment based on measurements from a rolling shutter (RS) camera. This tackles the challenges in the existing…

Conventional low-rank adaptation methods build adapters without considering data context, leading to sub-optimal fine-tuning performance and severe forgetting of inherent world knowledge. In this paper, we propose context-oriented…

Low-rank adapters have become standard for efficiently fine-tuning large language models, but they often fall short of achieving the performance of full fine-tuning. We propose a method, LoRA Silver Bullet or LoRA-SB, that approximates full…

In this work and its accompanying Part II [1], we develop an accelerated algorithmic framework, DAMA (Decentralized Accelerated Minimax Approach), for nonconvex Polyak-Lojasiewicz minimax optimization over decentralized multi-agent…

This paper introduces Dr-BA, a first-of-its-kind radar bundle adjustment (BA) framework that operates directly on 2D spinning radar intensity images. Unlike camera or lidar sensors, radar is largely unaffected by precipitation, making it a…

Implicit neural representations have become pivotal in robotic perception, enabling robots to comprehend 3D environments from 2D images. Given a set of camera poses and associated images, the models can be trained to synthesize novel,…

Finding local features that are repeatable across multiple views is a cornerstone of sparse 3D reconstruction. The classical image matching paradigm detects keypoints per-image once and for all, which can yield poorly-localized features and…

Similarity matrix serves as a fundamental tool at the core of numerous downstream machine-learning tasks. However, missing data is inevitable and often results in an inaccurate similarity matrix. To address this issue, Similarity Matrix…

We propose a single-snapshot depth-from-defocus (DFD) reconstruction method for coded-aperture imaging that replaces hand-crafted priors with a learned diffusion prior used purely as regularization. Our optimization framework enforces…

Modern robotics often involves multiple embodied agents operating within a shared environment. Path planning in these cases is considerably more challenging than in single-agent scenarios. Although standard Sampling-based Algorithms (SBAs)…

Structure from motion using uncalibrated multi-camera systems is a challenging task. This paper proposes a bundle adjustment solution that implements a baseline constraint respecting that these cameras are static to each other. We assume…

Low-rank decomposition (LRD) is a state-of-the-art method for visual data reconstruction and modelling. However, it is a very challenging problem when the image data contains significant occlusion, noise, illumination variation, and…

We study the problem of estimating a low-rank positive semidefinite (PSD) matrix from a set of rank-one measurements using sensing vectors composed of i.i.d. standard Gaussian entries, which are possibly corrupted by arbitrary outliers.…

Quality assessment of images and videos emphasizes both local details and global semantics, whereas general data sampling methods (e.g., resizing, cropping or grid-based fragment) fail to catch them simultaneously. To address the…

We present DM-VIO, a monocular visual-inertial odometry system based on two novel techniques called delayed marginalization and pose graph bundle adjustment. DM-VIO performs photometric bundle adjustment with a dynamic weight for visual…

Few-shot image classification aims to accurately classify unlabeled images using only a few labeled samples. The state-of-the-art solutions are built by deep learning, which focuses on designing increasingly complex deep backbones.…