相关论文: VISC: mmWave Radar Scene Flow Estimation using Per…

In this paper, we consider the task of unsupervised object discovery in videos. Previous works have shown promising results via processing optical flows to segment objects. However, taking flow as input brings about two drawbacks. First,…

Conventional methods for water pollutant detection, such as chemical assays and optical spectroscopy, are often invasive, expensive, and unsuitable for real-time, portable monitoring. In this paper, we introduce VibraWave, a novel…

Continuous monitoring of human vital signs using non-contact mmWave radars is attractive due to their ability to penetrate garments and operate under different lighting conditions. Unfortunately, most prior research requires subjects to…

Millimeter-wave radar enables robust environment perception in autonomous systems under adverse conditions yet suffers from sparse, noisy point clouds with low angular resolution. Existing diffusion-based radar enhancement methods either…

Extracting interpretable equations from observational datasets to describe complex natural phenomena is one of the core goals of artificial intelligence. This field is known as symbolic regression (SR). In recent years, Transformer-based…

This paper is concerned with the channel estimation problem in multi-cell Millimeter (mmWave) wireless systems. We develop a novel Ray-of-Arrival Passing for Indirect (RAPID) Beam Training framework, in which a network consisting of…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…

Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…

Autonomous driving systems are highly dependent on sensors like cameras, LiDAR, and inertial measurement units (IMU) to perceive the environment and estimate their motion. Among these sensors, perception-based sensors are not protected from…

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…

Neural radiance fields (NeRFs) have become a ubiquitous tool for modeling scene appearance and geometry from multiview imagery. Recent work has also begun to explore how to use additional supervision from lidar or depth sensor measurements…

Millimeter-wave (mmWave) radars are indispensable for perception tasks of autonomous vehicles, thanks to their resilience in challenging weather conditions. Yet, their deployment is often limited by insufficient spatial resolution for…

This paper proposes a vision-conditioned flow matching (FM) framework for beam prediction in millimeter-wave vehicle-to-infrastructure links. Instead of modeling discrete beam-index sequences, the proposed method learns the temporal…

Weakly supervised video anomaly detection (WS-VAD) is a crucial area in computer vision for developing intelligent surveillance systems. This system uses three feature streams: RGB video, optical flow, and audio signals, where each stream…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

Lidar-based SLAM systems are highly sensitive to adverse conditions such as occlusion, noise, and field-of-view (FoV) degradation, yet existing robustness evaluation methods either lack physical grounding or do not capture sensor-specific…

Deploying advanced imaging solutions to robotic and autonomous systems by mimicking human vision requires simultaneous acquisition of multiple fields of views, named the peripheral and fovea regions. Low-resolution peripheral field provides…

Visual bird's eye view (BEV) perception, due to its excellent perceptual capabilities, is progressively replacing costly LiDAR-based perception systems, especially in the realm of urban intelligent driving. However, this type of perception…

In this work, we propose a framework whereby flow imaging data is leveraged to extract relevant information from flowfield visualizations. To this end, a vision transformer (ViT) model is developed to predict the unsteady pressure…