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In this paper, we propose a new joint object detection and tracking (JoDT) framework for 3D object detection and tracking based on camera and LiDAR sensors. The proposed method, referred to as 3D DetecTrack, enables the detector and tracker…

For the problem of 3D object recognition, researchers using deep learning methods have developed several very different input representations, including "multi-view" snapshots taken from discrete viewpoints around an object, as well as…

We use large amounts of unlabeled video to learn models for visual tracking without manual human supervision. We leverage the natural temporal coherency of color to create a model that learns to colorize gray-scale videos by copying colors…

We present Neural 3D Strokes, a novel technique to generate stylized images of a 3D scene at arbitrary novel views from multi-view 2D images. Different from existing methods which apply stylization to trained neural radiance fields at the…

This paper focuses on visual motion-based invariants that result in a representation of 3D points in which the stationary environment remains invariant, ensuring shape constancy. This is achieved even as the images undergo constant change…

Traditionally, object tracking and segmentation are treated as two separate problems and solved independently. However, in this paper, we argue that tracking and segmentation are actually closely related and solving one should help the…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

Understanding visual reality involves acquiring common-sense knowledge about countless regularities in the visual world, e.g., how illumination alters the appearance of objects in a scene, and how motion changes their apparent spatial…

Multi-object tracking (MOT) has important applications in monitoring, logistics, and other fields. This paper develops a real-time multi-object tracking and prediction system in rugged environments. A 3D object detection algorithm based on…

This paper explores self-supervised learning of amodal 3D feature representations from RGB and RGB-D posed images and videos, agnostic to object and scene semantic content, and evaluates the resulting scene representations in the downstream…

Object concepts play a foundational role in human visual cognition, enabling perception, memory, and interaction in the physical world. Inspired by findings in developmental neuroscience - where infants are shown to acquire object…

Humans naturally retain memories of permanent elements, while ephemeral moments often slip through the cracks of memory. This selective retention is crucial for robotic perception, localization, and mapping. To endow robots with this…

The tracking-by-detection framework requires a set of positive and negative training samples to learn robust tracking models for precise localization of target objects. However, existing tracking models mostly treat different samples…

Recent multi-camera 3D object detectors usually leverage temporal information to construct multi-view stereo that alleviates the ill-posed depth estimation. However, they typically assume all the objects are static and directly aggregate…

We present an on-line 3D visual object tracking framework for monocular cameras by incorporating spatial knowledge and uncertainty from semantic mapping along with high frequency measurements from visual odometry. Using a combination of…

Recovering dense and long-range pixel motion in videos is a challenging problem. Part of the difficulty arises from the 3D-to-2D projection process, leading to occlusions and discontinuities in the 2D motion domain. While 2D motion can be…

In this thesis we discuss architectural designs and training methods for a neural network to have the ability of dissecting an image into objects of interest without supervision. The main challenge in 2D unsupervised object segmentation is…

We explain theoretically how to reconstruct the 3D scene from successive frames in order to see the video in 3D. To do this, features, associated to moving rigid objects in 3D, are extracted in frames and matched. The vanishing point…

We propose a unified object-aware temporal learning framework for multi-view 3D detection and tracking tasks. Having observed that the efficacy of the temporal fusion strategy in recent multi-view perception methods may be weakened by…

The challenge of dynamic view synthesis from dynamic monocular videos, i.e., synthesizing novel views for free viewpoints given a monocular video of a dynamic scene captured by a moving camera, mainly lies in accurately modeling the…