相关论文: Rotation-Constrained Cross-View Feature Fusion for…

Recent advances in 4D imaging radar have enabled robust perception in adverse weather, while camera sensors provide dense semantic information. Fusing the these complementary modalities has great potential for cost-effective 3D perception.…

Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…

We propose a new variational model for non-linear image fusion. Our approach is based on the use of an osmosis energy term related to the one studied in Vogel et al. (2013) and Weickert et al. (2013) The minimization of the proposed…

We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…

Determining the relative pose of a previously unseen object between two images is pivotal to the success of generalizable object pose estimation. Existing approaches typically predict 3D translation utilizing the ground-truth object…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…

Pose estimation is essential for many applications within computer vision and robotics. Despite its uses, few works provide rigorous uncertainty quantification for poses under dense or learned models. We derive a closed-form lower bound on…

We present an approach for aggregating a sparse set of views of an object in order to compute a semi-implicit 3D representation in the form of a volumetric feature grid. Key to our approach is an object-centric canonical 3D coordinate…

Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…

Sparse query-based paradigms have achieved significant success in multi-view 3D detection for autonomous vehicles. Current research faces challenges in balancing between enlarging receptive fields and reducing interference when aggregating…

Despite the significant improvement in the performance of monocular pose estimation approaches and their ability to generalize to unseen environments, multi-view (MV) approaches are often lagging behind in terms of accuracy and are specific…

Mobile manipulation constitutes a fundamental task for robotic assistants and garners significant attention within the robotics community. A critical challenge inherent in mobile manipulation is the effective observation of the target while…

Despite decades of research on data collection and model architectures, current gaze estimation models encounter significant challenges in generalizing across diverse data domains. Recent advances in self-supervised pre-training have shown…

Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…

This paper proposes a generalizable, end-to-end deep learning-based method for relative pose regression between two images. Given two images of the same scene captured from different viewpoints, our method predicts the relative rotation and…

Typical template-based object pose pipelines estimate the pose by retrieving the closest matching template and aligning it with the observed image. However, failure to retrieve the correct template often leads to inaccurate pose…

In this work, we propose a novel framework named Region-Aware Network (RANet), which learns the ability of anti-confusing in case of heavy occlusion, nearby person and symmetric appearance, for human pose estimation. Specifically, the…

The integration of multi-view imaging and pose estimation represents a significant advance in computer vision applications, offering new possibilities for understanding human movement and interactions. This work presents a new algorithm…

Monocular head pose estimation is traditionally formulated as direct regression from a single image to an absolute pose. This paradigm forces the network to implicitly internalize a dataset-specific canonical reference frame. In this work,…