相关论文: Event-RGB Fusion for Spacecraft Pose Estimation Un…

A key requirement for autonomous on-orbit proximity operations is the estimation of a target spacecraft's relative pose (position and orientation). It is desirable to employ monocular cameras for this problem due to their low cost, weight,…

Volumetric reconstruction of dynamic scenes is an important problem in computer vision. It is especially challenging in poor lighting and with fast motion. This is partly due to limitations of RGB cameras: To capture frames under low…

Observational noise, inaccurate segmentation and ambiguity due to symmetry and occlusion lead to inaccurate object pose estimates. While depth- and RGB-based pose refinement approaches increase the accuracy of the resulting pose estimates,…

In warehouse environments, robots require robust picking capabilities to manage a wide variety of objects. Effective deployment demands minimal hardware, strong generalization to new products, and resilience in diverse settings. Current…

Human pose estimation is a fundamental and appealing task in computer vision. Although traditional cameras are commonly applied, their reliability decreases in scenarios under high dynamic range or heavy motion blur, where event cameras…

Semantic segmentation plays an important role in widespread applications such as autonomous driving and robotic sensing. Traditional methods mostly use RGB images which are heavily affected by lighting conditions, \eg, darkness. Recent…

In recent years, considerable progress has been made for the task of rigid object pose estimation from a single RGB-image, but achieving robustness to partial occlusions remains a challenging problem. Pose refinement via rendering has shown…

Event cameras are bio-inspired sensors that perform well in HDR conditions and have high temporal resolution. However, different from traditional frame-based cameras, event cameras measure asynchronous pixel-level brightness changes and…

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…

Object detection using aerial drone imagery has received a great deal of attention in recent years. While visible light images are adequate for detecting objects in most scenarios, thermal cameras can extend the capabilities of object…

3D reconstruction methods such as 3D Gaussian Splatting (3DGS) and Neural Radiance Fields (NeRF) achieve impressive photorealism but fail when input images suffer from severe motion blur. While event cameras provide high-temporal-resolution…

Autonomous off-road navigation is required for applications in agriculture, construction, search and rescue and defence. Traditional on-road autonomous methods struggle with dynamic terrains, leading to poor vehicle control in off-road…

Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…

Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception…

Detecting objects reliably under extreme low-light conditions is an open problem in computer vision, with practical urgency in applications ranging from nighttime surveillance to search-and-rescue robotics. Conventional RGB cameras degrade…

Micro-expression analysis has applications in domains such as Human-Robot Interaction and Driver Monitoring Systems. Accurately capturing subtle and fast facial movements remains difficult when relying solely on RGB cameras, due to…

Accurate estimation of the relative pose between an object and a robot hand is critical for many manipulation tasks. However, most of the existing object-in-hand pose datasets use two-finger grippers and also assume that the object remains…

Accurate 6D object pose estimation is an important task for a variety of robotic applications such as grasping or localization. It is a challenging task due to object symmetries, clutter and occlusion, but it becomes more challenging when…

Estimating the precise timing of batting impact is crucial for understanding the rapid sensorimotor control. However, this task is challenging for RGB cameras due to insufficient temporal resolution and motion blur. Similarly, Inertial…

Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…