相关论文: Kaleidoscopic Background Attack: Disrupting Pose E…

Automated 3D pose estimation of satellites and other known space objects is a critical component of space situational awareness. Ground-based imagery offers a convenient data source for satellite characterization; however, analysis…

While a traditional camera only captures one point of view of a scene, a plenoptic or light-field camera, is able to capture spatial and angular information in a single snapshot, enabling depth estimation from a single acquisition. In this…

Object detection can localize and identify objects in images, and it is extensively employed in critical multimedia applications such as security surveillance and autonomous driving. Despite the success of existing object detection models,…

Bundle adjustment (BA) is the standard way to optimise camera poses and to produce sparse representations of a scene. However, as the number of camera poses and features grows, refinement through bundle adjustment becomes inefficient.…

Stereo vision generally involves the computation of pixel correspondences and estimation of disparities between rectified image pairs. In many applications, including simultaneous localization and mapping (SLAM) and 3D object detection, the…

Detecting vehicles in aerial images is difficult due to complex backgrounds, small object sizes, shadows, and occlusions. Although recent deep learning advancements have improved object detection, these models remain susceptible to…

We propose a generic procedure for assessing 6D object pose estimates. Our approach relies on the evaluation of discrepancies in the geometry of the observed object, in particular its respective estimated back-projection in 3D, against a…

In policy learning for robotic manipulation, sample efficiency is of paramount importance. Thus, learning and extracting more compact representations from camera observations is a promising avenue. However, current methods often assume full…

In this paper, we propose a method for initial camera pose estimation from just a single image which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment…

Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…

We propose a strategy for improving camera location estimation in structure from motion. Our setting assumes highly corrupted pairwise directions (i.e., normalized relative location vectors), so there is a clear room for improving current…

Estimating camera poses is a fundamental task for 3D reconstruction and remains challenging given sparsely sampled views (<10). In contrast to existing approaches that pursue top-down prediction of global parametrizations of camera…

Feature matching is a crucial task in the field of computer vision, which involves finding correspondences between images. Previous studies achieve remarkable performance using learning-based feature comparison. However, the pervasive…

The studies on black-box adversarial attacks have become increasingly prevalent due to the intractable acquisition of the structural knowledge of deep neural networks (DNNs). However, the performance of emerging attacks is negatively…

Deep learning advances have enabled accurate six-degree-of-freedom (6DoF) object pose estimation, widely used in robotics, AR/VR, and autonomous systems. However, backdoor attacks pose significant security risks. While most research focuses…

Camera pose estimation from sparse correspondences is a fundamental problem in geometric computer vision and remains particularly challenging in near-field scenarios, where strong perspective effects and heterogeneous measurement noise can…

The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

LiDAR bundle adjustment (BA) is an effective approach to reduce the drifts in pose estimation from the front-end. Existing works on LiDAR BA usually rely on predefined geometric features for landmark representation. This reliance restricts…

Object detection models deployed in real-world applications such as autonomous driving face serious threats from backdoor attacks. Despite their practical effectiveness,existing methods are inherently limited in both capability and…