相关论文: kollagen: A Collaborative SLAM Pose Graph Generato…

Recently there has been a growing interest in category-level object pose and size estimation, and prevailing methods commonly rely on single view RGB-D images. However, one disadvantage of such methods is that they require accurate depth…

In this paper, we focus on activating only a few sensors, among many available, to estimate the state of a stochastic process of interest. This problem is important in applications such as target tracking and simultaneous localization and…

Data-driven modelling and synthesis of motion is an active research area with applications that include animation, games, and social robotics. This paper introduces a new class of probabilistic, generative, and controllable motion-data…

We present a novel framework for collaboration amongst a team of robots performing Pose Graph Optimization (PGO) that addresses two important challenges for multi-robot SLAM: i) that of enabling information exchange "on-demand" via Active…

3D Gaussian Splatting (3DGS) has become a popular solution in SLAM, as it can produce high-fidelity novel views. However, previous GS-based methods primarily target indoor scenes and rely on RGB-D sensors or pre-trained depth estimation…

Human Pose Estimation is a crucial module in human-machine interaction applications and, especially since the rise in deep learning technology, robust methods are available to consumers using RGB cameras and commercial GPUs. On the other…

Many real-world scenarios involve a team of agents that have to coordinate their policies to achieve a shared goal. Previous studies mainly focus on decentralized control to maximize a common reward and barely consider the coordination…

Authoring an appealing animation for a virtual character is a challenging task. In computer-aided keyframe animation artists define the key poses of a character by manipulating its underlying skeletons. To look plausible, a character pose…

Empirical networked systems are often only partially observed: sampling frames, crawling policies, privacy constraints, and temporal gaps can leave actors and edges unobserved. This complicates robustness and sensitivity analysis because…

The latent code of the recent popular model StyleGAN has learned disentangled representations thanks to the multi-layer style-based generator. Embedding a given image back to the latent space of StyleGAN enables wide interesting semantic…

Image collage is a very useful tool for visualizing an image collection. Most of the existing methods and commercial applications for generating image collages are designed on simple shapes, such as rectangular and circular layouts. This…

Models and methods originally developed for Novel View Synthesis and Scene Rendering, such as Neural Radiance Fields (NeRF) and Gaussian Splatting, are increasingly being adopted as representations in Simultaneous Localization and Mapping…

LiDAR (Light Detection and Ranging) SLAM (Simultaneous Localization and Mapping) serves as a basis for indoor cleaning, navigation, and many other useful applications in both industry and household. From a series of LiDAR scans, it…

Imbalanced classification on graphs is ubiquitous yet challenging in many real-world applications, such as fraudulent node detection. Recently, graph neural networks (GNNs) have shown promising performance on many network analysis tasks.…

This paper proposes a 3D LiDAR SLAM algorithm named Ground-SLAM, which exploits grounds in structured multi-floor environments to compress the pose drift mainly caused by LiDAR measurement bias. Ground-SLAM is developed based on the…

We introduce Physically Enhanced Gaussian Splatting Simulation System (PEGASUS) for 6DOF object pose dataset generation, a versatile dataset generator based on 3D Gaussian Splatting. Environment and object representations can be easily…

This paper presents a novel approach for the automatic offline grasp pose synthesis on known rigid objects for parallel jaw grippers. We use several criteria such as gripper stroke, surface friction, and a collision check to determine…

The assumption of a static environment is common in many geometric computer vision tasks like SLAM but limits their applicability in highly dynamic scenes. Since these tasks rely on identifying point correspondences between input images…

Layout is important for graphic design and scene generation. We propose a novel Generative Adversarial Network, called LayoutGAN, that synthesizes layouts by modeling geometric relations of different types of 2D elements. The generator of…

The model-based gait recognition methods usually adopt the pedestrian walking postures to identify human beings. However, existing methods did not explicitly resolve the large intra-class variance of human pose due to camera views changing.…