相关论文: Towards Initialization-free Calibrated Bundle Adju…

The statistics literature of the past 15 years has established many favorable properties for sparse diminishing-bias regularization: techniques which can roughly be understood as providing estimation under penalty functions spanning the…

Learning to predict scene depth and camera motion from RGB inputs only is a challenging task. Most existing learning based methods deal with this task in a supervised manner which require ground-truth data that is expensive to acquire. More…

Two features desired in a three-dimensional (3D) optical tomographic image reconstruction algorithm are the ability to reduce imaging artifacts and to do fast processing of large data volumes. Traditional iterative inversion algorithms are…

We propose a new method for object pose estimation without CAD models. The previous feature-matching-based method OnePose has shown promising results under a one-shot setting which eliminates the need for CAD models or object-specific…

Calibration of fixtures in robotic work cells is essential but also time consuming and error-prone, and poor calibration can easily lead to wasted debugging time in downstream tasks. Contact-based calibration methods let the user measure…

Image reconstruction based on an edge-sparsity assumption has become popular in recent years. Many methods of this type are capable of reconstructing nearly perfect edge-sparse images using limited data. In this paper, we present a method…

In recent years, various large foundation models have been proposed for image segmentation. There models are often trained on large amounts of data corresponding to general computer vision tasks. Hence, these models do not perform well on…

We propose a framework called ReFInE to directly obtain integral image estimates from a very small number of spatially multiplexed measurements of the scene without iterative reconstruction of any auxiliary image, and demonstrate their…

Initialization is essential to monocular Simultaneous Localization and Mapping (SLAM) problems. This paper focuses on a novel initialization method for monocular SLAM based on planar features. The algorithm starts by homography estimation…

We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. Our approach can be instantly applied at test-time to a novel object without fine-tuning,…

Mobile AR applications benefit from fast initialization to display world-locked effects instantly. However, standard visual odometry or SLAM algorithms require motion parallax to initialize (see Figure 1) and, therefore, suffer from delayed…

Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…

Analogy Based Effort Estimation (ABE) is one of the prominent methods for software effort estimation. The fundamental concept of ABE is closer to the mentality of expert estimation but with an automated procedure in which the final estimate…

Many robotics and industry applications have a high demand for the capability to estimate the 6D pose of novel objects from the cluttered scene. However, existing classic pose estimation methods are object-specific, which can only handle…

X-ray imaging is a fundamental tool of routine clinical diagnosis. Fluoroscopic imaging can further acquire X-ray images at video frame rates, thus enabling non-invasive in-vivo motion studies of joints, gastrointestinal tract, etc. For…

Parameter-efficient fine-tuning methods such as LoRA enable practical adaptation of large language models but provide no principled uncertainty estimates, leading to poorly calibrated predictions and unreliable behavior under domain shift.…

A way to lower computational cost in large scale inverse problems and problems depending on poorly known model parameters is to replace the detailed model by an approximate one. Inverse problems are typically ill-posed, and the model…

Online reconstruction based on RGB-D sequences has thus far been restrained to relatively slow camera motions (<1m/s). Under very fast camera motion (e.g., 3m/s), the reconstruction can easily crumble even for the state-of-the-art methods.…

This paper introduces a novel approach to the fine alignment of images in a burst captured by a handheld camera. In contrast to traditional techniques that estimate two-dimensional transformations between frame pairs or rely on discrete…

We present a novel initialization technique for the range-aided simultaneous localization and mapping (RA-SLAM) problem. In RA-SLAM we consider measurements of point-to-point distances in addition to measurements of rigid transformations to…