相关论文: Close the Optical Sensing Domain Gap by Physics-Gr…

Active perception has been employed in many domains, particularly in the field of robotics. The idea of active perception is to utilize the input data to predict the next action that can help robots to improve their performance. The main…

Achieving robust vision-based humanoid locomotion remains challenging due to two fundamental issues: the sim-to-real gap introduces significant perception noise that degrades performance on fine-grained tasks, and training a unified policy…

For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…

Estimating depth from images nowadays yields outstanding results, both in terms of in-domain accuracy and generalization. However, we identify two main challenges that remain open in this field: dealing with non-Lambertian materials and…

Stereo vision is essential for many applications. Currently, the synchronization of the streams coming from two cameras is done using mostly hardware. A software-based synchronization method would reduce the cost, weight and size of the…

Depth perception is crucial for spatial understanding and has traditionally been achieved through stereoscopic imaging. However, the precision of depth estimation using stereoscopic methods depends on the accurate calibration of binocular…

Cameras capture images that are essential for many safety-critical tasks. To process these images, a complex pipeline with multiple layers is used. Security attacks on this pipeline can severely affect passenger safety and system…

Label-free tomographic optical imaging inside scattering media is important for medical diagnosis, biological science, colloidal physics, and device inspection. An outstanding challenge is that the ground-truth structure is often unknown,…

Synthetic data is being used lately for training deep neural networks in computer vision applications such as object detection, object segmentation and 6D object pose estimation. Domain randomization hereby plays an important role in…

Sensory processing with neuromorphic systems is typically done by using either event-based sensors or translating input signals to spikes before presenting them to the neuromorphic processor. Here, we offer an alternative approach: direct…

Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating…

The increase in available computing power and the Deep Learning revolution have allowed the exploration of new topics and frontiers in Artificial Intelligence research. A new field called Embodied Artificial Intelligence, which places at…

Tremendous progress has been made in deep stereo matching to excel on benchmark datasets through per-domain fine-tuning. However, achieving strong zero-shot generalization - a hallmark of foundation models in other computer vision tasks -…

Modern day multimedia content generation and dissemination is moving towards the presentation of more and more `realistic' scenarios. The switch from 2-dimensional (2D) to 3-dimensional (3D) has been a major driving force in that direction.…

We present Seen2Scene, the first flow matching-based approach that trains directly on incomplete, real-world 3D scans for scene completion and generation. Unlike prior methods that rely on complete and hence synthetic 3D data, our approach…

The increasing need for automated visual monitoring and control for applications such as smart camera surveillance, traffic monitoring, and intelligent environments, necessitates the improvement of methods for visual active monitoring.…

Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we…

We present a framework for bridging the gap between sensor attack detection and recovery in cyber-physical systems. The proposed framework models modern-day, complex perception pipelines as bipartite graphs, which combined with anomaly…

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…

Autonomous underwater inspection of submerged pipelines is challenging due to confined geometries, turbidity, and the scarcity of reliable localization cues. This paper presents a minimal-sensing strategy that enables a free-swimming…