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In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…
We propose DeepMultiCap, a novel method for multi-person performance capture using sparse multi-view cameras. Our method can capture time varying surface details without the need of using pre-scanned template models. To tackle with the…
Humanoid robot technology is advancing rapidly, with manufacturers introducing diverse heterogeneous visual perception modules tailored to specific scenarios. Among various perception paradigms, occupancy-based representation has become…
Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors…
Occupancy prediction has garnered increasing attention in recent years for its comprehensive fine-grained environmental representation and strong generalization to open-set objects. However, cumbersome voxel features and 3D convolution…
We design a multiscopic vision system that utilizes a low-cost monocular RGB camera to acquire accurate depth estimation. Unlike multi-view stereo with images captured at unconstrained camera poses, the proposed system controls the motion…
Event cameras are an interesting visual exteroceptive sensor that reacts to brightness changes rather than integrating absolute image intensities. Owing to this design, the sensor exhibits strong performance in situations of challenging…
Privacy preservation is a prerequisite for using video data in Operating Room (OR) research. Effective anonymization relies on the exhaustive localization of every individual; even a single missed detection necessitates extensive manual…
Multi-sensor frameworks provide opportunities for ensemble learning and sensor fusion to make use of redundancy and supplemental information, helpful in real-world safety applications such as continuous driver state monitoring which…
With the Internet of Things (IoT) fostering seamless device-to-human and device-to-device interactions, the domain of intelligent lighting systems have evolved beyond simple occupancy and daylight sensing towards autonomous monitoring and…
Reliable localization of people is fundamental for service and social robots that must operate in close interaction with humans. State-of-the-art human detectors often rely on RGB-D cameras or costly 3D LiDARs. However, most commercial…
Place recognition is a challenging task in computer vision, crucial for enabling autonomous vehicles and robots to navigate previously visited environments. While significant progress has been made in learnable multimodal methods that…
The 3D occupancy estimation task has become an important challenge in the area of vision-based autonomous driving recently. However, most existing camera-based methods rely on costly 3D voxel labels or LiDAR scans for training, limiting…
Capturing an event from multiple camera angles can give a viewer the most complete and interesting picture of that event. To be suitable for broadcasting, a human director needs to decide what to show at each point in time. This can become…
3D occupancy infers fine-grained 3D geometry and semantics which is critical for autonomous driving. Most existing approaches carry high compute costs, requiring dense 3D feature volume and cross-attention to effectively aggregate…
Determining the occupancy status of locations in the environment is a fundamental task for safety-critical robotic applications. Traditional occupancy grid mapping methods subdivide the environment into a grid of voxels, each associated…
The quality of robot vision greatly affects the performance of automation systems, where occlusions stand as one of the biggest challenges. If the target is occluded from the sensor, detecting and grasping such objects become very…
In the existing literature of the Mutual Visibility problem for autonomous robot swarms, the adopted visibility models have some idealistic assumptions that are not consistent with practical sensing device implementations. This paper…
Language-guided embodied navigation requires an agent to interpret object-referential instructions, search across multiple rooms, localize the referenced target, and execute reliable motion toward it. Existing systems remain limited in real…
Estimating the layout of a room from a single-shot panoramic image is important in virtual/augmented reality and furniture layout simulation. This involves identifying three-dimensional (3D) geometry, such as the location of corners and…