相关论文: Efficient Self-Supervised Neuro-Analytic Visual Se…

Photorealistic simulators are essential for the training and evaluation of vision-centric autonomous vehicles (AVs). At their core is Novel View Synthesis (NVS), a crucial capability that generates diverse unseen viewpoints to accommodate…

Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…

Automation of surgical tasks using cable-driven robots is challenging due to backlash, hysteresis, and cable tension, and these issues are exacerbated as surgical instruments must often be changed during an operation. In this work, we…

We propose VISION-SLS, a method for nonlinear output-feedback control from high-resolution RGB images which provides robust constraint satisfaction guarantees under calibrated uncertainty bounds despite partial observability, sensor noise,…

Audio-visual speech recognition (AVSR) incorporates auditory and visual modalities to improve recognition accuracy, particularly in noisy environments where audio-only speech systems are insufficient. While previous research has largely…

Multi-scale Vision Transformer (ViT) has emerged as a powerful backbone for computer vision tasks, while the self-attention computation in Transformer scales quadratically w.r.t. the input patch number. Thus, existing solutions commonly…

The utilization of multi-modal sensor data in visual place recognition (VPR) has demonstrated enhanced performance compared to single-modal counterparts. Nonetheless, integrating additional sensors comes with elevated costs and may not be…

Self-supervised learning (SSL) holds promise in leveraging large amounts of unlabeled data. However, the success of popular SSL methods has limited on single-centric-object images like those in ImageNet and ignores the correlation among the…

Bioresorbable scaffolds have become a popular choice for treatment of coronary heart disease, replacing traditional metal stents. Often, intravascular optical coherence tomography is used to assess potential malapposition after implantation…

Multi-View Stereo (MVS) is a core task in 3D computer vision. With the surge of novel deep learning methods, learned MVS has surpassed the accuracy of classical approaches, but still relies on building a memory intensive dense cost volume.…

Self-supervision has emerged as a propitious method for visual representation learning after the recent paradigm shift from handcrafted pretext tasks to instance-similarity based approaches. Most state-of-the-art methods enforce similarity…

Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…

Visuomotor policies often leverage large pre-trained Vision Transformers (ViTs) for their powerful generalization capabilities. However, their significant data requirements present a major challenge in the data-scarce context of most…

Quadrotors are one of the popular unmanned aerial vehicles (UAVs) due to their versatility and simple design. However, the tuning of gains for quadrotor flight controllers can be laborious, and accurately stable control of trajectories can…

Sim2Real transfer has gained popularity because it helps transfer from inexpensive simulators to real world. This paper presents a novel system that fuses components in a traditional World Model into a robust system, trained entirely within…

Perceptual understanding of the scene and the relationship between its different components is important for successful completion of robotic tasks. Representation learning has been shown to be a powerful technique for this, but most of the…

Image-based modeling techniques can now generate photo-realistic 3D models from images. But it is up to users to provide high quality images with good coverage and view overlap, which makes the data capturing process tedious and time…

One of the challenging input settings for visual servoing is when the initial and goal camera views are far apart. Such settings are difficult because the wide baseline can cause drastic changes in object appearance and cause occlusions.…

Multi-view 3D detection based on BEV (bird-eye-view) has recently achieved significant improvements. However, the huge memory consumption of state-of-the-art models makes it hard to deploy them on vehicles, and the non-trivial latency will…

As an alternative sensing paradigm, dynamic vision sensors (DVS) have been recently explored to tackle scenarios where conventional sensors result in high data rate and processing time. This paper presents a hybrid event-frame approach for…