相关论文: A Photogrammetry-based Framework to Facilitate Ima…

This paper presents a novel visual feature based scene mapping method for underwater vehicle manipulator systems (UVMSs), with specific emphasis on robust mapping in natural seafloor environments. Our method uses GPU accelerated SIFT…

Learning-based Multi-View Stereo (MVS) methods have made remarkable progress in recent years. However, how to effectively train the network without using real-world labels remains a challenging problem. In this paper, driven by the recent…

We propose a method to fuse frozen text-only large language models (LLMs) with pre-trained image encoder and decoder models, by mapping between their embedding spaces. Our model demonstrates a wide suite of multimodal capabilities: image…

In this paper, we present a novel general framework grounded in the factor graph theory to solve kinematic and dynamic problems for multi-body systems. Although the motion of multi-body systems is considered to be a well-studied problem and…

Autonomous robots typically need to construct representations of their surroundings and adapt their motions to the geometry of their environment. Here, we tackle the problem of constructing a policy model for collision-free motion…

Camera motion is a fundamental geometric signal that shapes visual perception and cinematic style, yet current video-capable vision-language models (VideoLLMs) rarely represent it explicitly and often fail on fine-grained motion primitives.…

The ability to estimate rich geometry and camera motion from monocular imagery is fundamental to future interactive robotics and augmented reality applications. Different approaches have been proposed that vary in scene geometry…

Self-supervised video correspondence learning depends on the ability to accurately associate pixels between video frames that correspond to the same visual object. However, achieving reliable pixel matching without supervision remains a…

We present a framework for visual action planning of complex manipulation tasks with high-dimensional state spaces such as manipulation of deformable objects. Planning is performed in a low-dimensional latent state space that embeds images.…

While recent flow-based image editing models demonstrate general-purpose capabilities across diverse tasks, they often struggle to specialize in challenging scenarios -- particularly those involving large-scale shape transformations. When…

In this work, we present a multiscale kinetic framework for consensus-based image segmentation. By interpreting an image as a system of interacting particles, each pixel is characterised by its spatial position and an internal feature…

World-wide detailed 2D maps require enormous collective efforts. OpenStreetMap is the result of 11 million registered users manually annotating the GPS location of over 1.75 billion entries, including distinctive landmarks and common urban…

This paper presents a fast and modular framework for Multi-Object Tracking (MOT) based on the Markov descision process (MDP) tracking-by-detection paradigm. It is designed to allow its various functional components to be replaced by…

Incremental Structure from Motion (ISfM) has been widely used for UAV image orientation. Its efficiency, however, decreases dramatically due to the sequential constraint. Although the divide-and-conquer strategy has been utilized for…

We present SceneFactory, a workflow-centric and unified framework for incremental scene modeling, that conveniently supports a wide range of applications, such as (unposed and/or uncalibrated) multi-view depth estimation, LiDAR completion,…

In this paper, we propose a global method for estimating the motion of a camera which films a static scene. Our approach is direct, fast and robust, and deals with adjacent frames of a sequence. It is based on a quadratic approximation of…

Conventional frame-based camera is not able to meet the demand of rapid reaction for real-time applications, while the emerging dynamic vision sensor (DVS) can realize high speed capturing for moving objects. However, to achieve visual…

This paper addresses the challenge of geometric quality assurance in manufacturing, particularly when human assessment is required. It proposes using Blender, an open-source simulation tool, to create synthetic datasets for machine learning…

Consecutive frames in a video contain redundancy, but they may also contain relevant complementary information for the detection task. The objective of our work is to leverage this complementary information to improve detection. Therefore,…

Structure from Motion (SfM) using imagery that involves extreme appearance changes is yet a challenging task due to a loss of feature repeatability. Using feature correspondences obtained by matching densely extracted convolutional neural…