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Transparent objects present multiple distinct challenges to visual perception systems. First, their lack of distinguishing visual features makes transparent objects harder to detect and localize than opaque objects. Even humans find certain…
Object detection and global localization play a crucial role in robotics, spanning across a great spectrum of applications from autonomous cars to multi-layered 3D Scene Graphs for semantic scene understanding. This article proposes BOX3D,…
Transparent objects present multiple distinct challenges to visual perception systems. First, their lack of distinguishing visual features makes transparent objects harder to detect and localize than opaque objects. Even humans find certain…
Object recognition is a critical part of any surveillance system. It is the matter of utmost concern to identify intruders and foreign objects in the area where surveillance is done. The performance of surveillance system using the…
We introduce algorithms to visualize feature spaces used by object detectors. Our method works by inverting a visual feature back to multiple natural images. We found that these visualizations allow us to analyze object detection systems in…
This work presents a systematic investigation into how alternative LiDAR-to-image projections affect metric place recognition when coupled with a state-of-the-art vision foundation model. We introduce a modular retrieval pipeline that…
Localization is a critical capability for robots, drones and autonomous vehicles operating in a wide range of environments. One of the critical considerations for designing, training or calibrating visual localization systems is the…
Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…
Despite the fact that object detection, 3D pose estimation, and sub-category recognition are highly correlated tasks, they are usually addressed independently from each other because of the huge space of parameters. To jointly model all of…
Neural Radiance Fields (NeRF) have recently demonstrated photo-realistic results for the task of novel view synthesis. In this paper, we propose to apply novel view synthesis to the robot relocalization problem: we demonstrate improvement…
Computer vision is increasingly used in areas such as unmanned vehicles, surveillance systems and remote sensing. However, in foggy scenarios, image degradation leads to loss of target details, which seriously affects the accuracy and…
Cross-view self-localization is a challenging scenario of visual place recognition in which database images are provided from sparse viewpoints. Recently, an approach for synthesizing database images from unseen viewpoints using NeRF…
Crystallisation is an important phenomenon which facilitates the purification as well as structural and bulk phase material characterisation using crystallographic methods. However, different conditions can lead to a vast set of different…
This paper presents a novel approach to handle the challenges of face recognition. In this work thermal face images are considered, which minimizes the affect of illumination changes and occlusion due to moustache, beards, adornments etc.…
Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…
Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…
Camera pose estimation is an important problem in computer vision. Common techniques either match the current image against keyframes with known poses, directly regress the pose, or establish correspondences between keypoints in the image…
Ptychography is a promising phase retrieval technique for visible light, X-ray and electron beams. Conventional ptychography reconstructs the amplitude and phase of an object light from a set of the diffraction intensity patterns obtained…
Polarization information of light in a scene is valuable for various image processing and computer vision tasks. A division-of-focal-plane polarimeter is a promising approach to capture the polarization images of different orientations in…
Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…