相关论文: DFVS: Deep Flow Guided Scene Agnostic Image Based …

Simultaneous object recognition and pose estimation are two key functionalities for robots to safely interact with humans as well as environments. Although both object recognition and pose estimation use visual input, most state-of-the-art…

Reconstruction of 3D neural fields from posed images has emerged as a promising method for self-supervised representation learning. The key challenge preventing the deployment of these 3D scene learners on large-scale video data is their…

This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…

We propose a new deep learning based approach for camera relocalization. Our approach localizes a given query image by using a convolutional neural network (CNN) for first retrieving similar database images and then predicting the relative…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

This paper introduces a novel approach for image and video orientation estimation by leveraging depth distribution in natural images. The proposed method estimates the orientation based on the depth distribution across different quadrants…

While 3D Vision Foundation Models (3DVFMs) have demonstrated remarkable zero-shot capabilities in visual geometry estimation, their direct application to generalizable novel view synthesis (NVS) remains challenging. In this paper, we…

Latest diffusion models have shown promising results in category-level 6D object pose estimation by modeling the conditional pose distribution with depth image input. The existing methods, however, suffer from slow convergence during…

Visual localization is the task of accurate camera pose estimation in a known scene. It is a key problem in computer vision and robotics, with applications including self-driving cars, Structure-from-Motion, SLAM, and Mixed Reality.…

Estimation of 3D motion in a dynamic scene from a temporal pair of images is a core task in many scene understanding problems. In real world applications, a dynamic scene is commonly captured by a moving camera (i.e., panning, tilting or…

Visual relocalization, which estimates the 6-degree-of-freedom (6-DoF) camera pose from query images, is fundamental to remote sensing and UAV applications. Existing methods face inherent trade-offs: image-based retrieval and pose…

The recent works on Video Object Segmentation achieved remarkable results by matching dense semantic and instance-level features between the current and previous frames for long-time propagation. Nevertheless, global feature matching…

This paper presents a novel architecture for simultaneous estimation of highly accurate optical flows and rigid scene transformations for difficult scenarios where the brightness assumption is violated by strong shading changes. In the case…

Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their environments in real-time. One approach for tactile servo control with high-resolution…

We present a deep neural network (DNN) that uses both sensor data (gyroscope) and image content (optical flow) to stabilize videos through unsupervised learning. The network fuses optical flow with real/virtual camera pose histories into a…

We present an unsupervised learning framework for simultaneously training single-view depth prediction and optical flow estimation models using unlabeled video sequences. Existing unsupervised methods often exploit brightness constancy and…

Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major…

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real…

Visual servoing is fundamental to robotic applications, enabling precise positioning and control. However, applying it to textureless objects remains a challenge due to the absence of reliable visual features. Moreover, adverse visual…

3D Move To See (3DMTS) is a mutli-perspective visual servoing method for unstructured and occluded environments, like that encountered in robotic crop harvesting. This paper presents a deep learning method, Deep-3DMTS for creating a…