相关论文: Audio-Visual Calibration with Polynomial Regressio…
Active speaker detection (ASD) and virtual cinematography (VC) can significantly improve the remote user experience of a video conference by automatically panning, tilting and zooming of a video conferencing camera: users subjectively rate…
We propose a straightforward and cost-effective method to perform diffuse soundfield measurements for calibrating the magnitude response of a microphone array. Typically, such calibration is performed in a diffuse soundfield created in…
We propose Stereo Direct Sparse Odometry (Stereo DSO) as a novel method for highly accurate real-time visual odometry estimation of large-scale environments from stereo cameras. It jointly optimizes for all the model parameters within the…
An analysis of the relationship between the bandwidth of acoustic signals and the required resolution of steered-response power phase transform (SRP-PHAT) maps used for sound source localization is presented. This relationship does not rely…
Many species have evolved advanced non-visual perception while artificial systems fall behind. Radar and ultrasound complement camera-based vision but they are often too costly and complex to set up for very limited information gain. In…
In this paper, we propose the first minimal solutions for estimating the semi-generalized homography given a perspective and a generalized camera. The proposed solvers use five 2D-2D image point correspondences induced by a scene plane. One…
Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which…
In this paper, we propose an efficient technique for estimating individual power spectral density (PSD) components, i.e., PSD of each desired sound source as well as of noise and reverberation, in a multi-source reverberant sound scene with…
Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…
Accurately localizing 3D sound sources and estimating their semantic labels -- where the sources may not be visible, but are assumed to lie on the physical surface of objects in the scene -- have many real applications, including detecting…
Active stereo technique using single pattern projection, a.k.a. one-shot 3D scan, have drawn a wide attention from industry, medical purposes, etc. One severe drawback of one-shot 3D scan is sparse reconstruction. In addition, since spatial…
Extracting direct-path spatial feature is crucial for sound source localization in adverse acoustic environments. This paper proposes the IPDnet, a neural network that estimates direct-path inter-channel phase difference (DP-IPD) of sound…
The most prevalent routine for camera calibration is based on the detection of well-defined feature points on a purpose-made calibration artifact. These could be checkerboard saddle points, circles, rings or triangles, often printed on a…
This paper presents a novel technique for camera calibration using a single view that incorporates a spherical mirror. Leveraging the distinct characteristics of the sphere's contour visible in the image and its reflections, we showcase the…
Camera calibration is a necessity in various tasks including 3D reconstruction, hand-eye coordination for a robotic interaction, autonomous driving, etc. In this work we propose a novel method to predict extrinsic (baseline, pitch, and…
Detecting sound source objects within visual observation is important for autonomous robots to comprehend surrounding environments. Since sounding objects have a large variety with different appearances in our living environments, labeling…
Visual-audio navigation (VAN) is attracting more and more attention from the robotic community due to its broad applications, \emph{e.g.}, household robots and rescue robots. In this task, an embodied agent must search for and navigate to…
Recent work in multi-view stereo (MVS) combines learnable photometric scores and regularization with PatchMatch-based optimization to achieve robust pixelwise estimates of depth, normals, and visibility. However, non-learning based methods…
Multi-channel acoustic signal processing is a well-established and powerful tool to exploit the spatial diversity between a target signal and non-target or noise sources for signal enhancement. However, the textbook solutions for optimal…
Camera calibration is an essential process in photogrammetry, serving as a crucial link between the 2D image coordinate system and the 3D world coordinate system. However, when observations are conducted through refractive interfaces, the…