相关论文: Solving Viewing Graph Optimization for Simultaneou…

The general position problem for graphs asks for the largest number of vertices in a subset $S \subseteq V(G)$ of a graph $G$ such that for any $u,v \in S$ and any shortest $u,v$-path $P$ we have $S \cap V(P) = \{ u,v\} $, whereas the…

LiDAR based place recognition is popular for loop closure detection and re-localization. In recent years, deep learning brings improvements to place recognition by learnable feature extraction. However, these methods degenerate when the…

In this work, we present an algebraic solution to the classical perspective-3-point (P3P) problem for determining the position and attitude of a camera from observations of three known reference points. In contrast to previous approaches,…

In many scenarios where cameras are applied, such as robot positioning and unmanned driving, camera calibration is one of the most important pre-work. The interactive calibration method based on the plane board is becoming popular in camera…

Autonomous driving requires a structured understanding of the surrounding road network to navigate. One of the most common and useful representation of such an understanding is done in the form of BEV lane graphs. In this work, we use the…

In some scenarios, a single input image may not be enough to allow the object classification. In those cases, it is crucial to explore the complementary information extracted from images presenting the same object from multiple perspectives…

A longstanding goal in computer vision is to model motions from videos, while the representations behind motions, i.e. the invisible physical interactions that cause objects to deform and move, remain largely unexplored. In this paper, we…

Graph property detection aims to determine whether a graph exhibits certain structural properties, such as being Hamiltonian. Recently, learning-based approaches have shown great promise by leveraging data-driven models to detect graph…

Graphs are a useful abstraction of image content. Not only can graphs represent details about individual objects in a scene but they can capture the interactions between pairs of objects. We present a method for training a convolutional…

Registration is a fundamental but critical task in point cloud processing, which usually depends on finding element correspondence from two point clouds. However, the finding of reliable correspondence relies on establishing a robust and…

Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…

The use of local detectors and descriptors in typical computer vision pipelines work well until variations in viewpoint and appearance change become extreme. Past research in this area has typically focused on one of two approaches to this…

Nowadays stock photo agencies often have millions of images. Non-stop viewing of 20 million images at a speed of 10 images per second would take more than three weeks. This demonstrates the impossibility to inspect all images and the…

Automatic segmentation of objects from a single image is a challenging problem which generally requires training on large number of images. We consider the problem of automatically segmenting only the dynamic objects from a given pair of…

Both a good understanding of geometrical concepts and a broad familiarity with objects lead to our excellent perception of moving objects. The human ability to detect and segment moving objects works in the presence of multiple objects,…

Transformation Synchronization is the problem of recovering absolute transformations from a given set of pairwise relative motions. Despite its usefulness, the problem remains challenging due to the influences from noisy and outlier…

Events in natural videos typically arise from spatio-temporal interactions between actors and objects and involve multiple co-occurring activities and object classes. To capture this rich visual and semantic context, we propose using two…

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.…

2D image understanding is a complex problem within computer vision, but it holds the key to providing human-level scene comprehension. It goes further than identifying the objects in an image, and instead, it attempts to understand the…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…