相关论文: Eff-GRot: Efficient and Generalizable Rotation Est…

In the field of novel-view synthesis, the necessity of knowing camera poses (e.g., via Structure from Motion) before rendering has been a common practice. However, the consistent acquisition of accurate camera poses remains elusive, and…

Minimal solutions for relative rotation and translation estimation tasks have been explored in different scenarios, typically relying on the so-called co-visibility graph. However, how to build direct rotation relationships between two…

Wireless channel modeling is a key building block for next-generation wireless systems. Predicting the channel state information (CSI) across different transmitter locations can substantially reduce the pilot and feedback overhead of…

Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear…

Camera relocalization is pivotal in computer vision, with applications in AR, drones, robotics, and autonomous driving. It estimates 3D camera position and orientation (6-DoF) from images. Unlike traditional methods like SLAM, recent…

Unlike a traditional gyroscope, a visual gyroscope estimates camera rotation through images. The integration of omnidirectional cameras, offering a larger field of view compared to traditional RGB cameras, has proven to yield more accurate…

Reconstructing a 3D scene from unordered images is pivotal in computer vision and robotics, with applications spanning crowd-sourced mapping and beyond. While global Structure-from-Motion (SfM) techniques are scalable and fast, they often…

We introduce GROOT, an imitation learning method for learning robust policies with object-centric and 3D priors. GROOT builds policies that generalize beyond their initial training conditions for vision-based manipulation. It constructs…

Rotation estimation plays a fundamental role in many computer vision and robot tasks. However, efficiently estimating rotation in large inputs containing numerous outliers (i.e., mismatches) and noise is a recognized challenge. Many robust…

This paper presents a translation-based knowledge geraph embedding method via efficient relation rotation (TransERR), a straightforward yet effective alternative to traditional translation-based knowledge graph embedding models. Different…

A new method to represent and approximate rotation matrices is introduced. The method represents approximations of a rotation matrix $Q$ with linearithmic complexity, i.e. with $\frac{1}{2}n\lg(n)$ rotations over pairs of coordinates,…

Handling geometric transformations, particularly rotations, remains a challenge in deep learning for computer vision. Standard neural networks lack inherent rotation invariance and typically rely on data augmentation or architectural…

We present the Evolving Graph Fourier Transform (EFT), the first invertible spectral transform that captures evolving representations on temporal graphs. We motivate our work by the inadequacy of existing methods for capturing the evolving…

This study addresses the challenge of manipulation, a prominent issue in robotics. We have devised a novel methodology for swiftly and precisely identifying the optimal grasp point for a robot to manipulate an object. Our approach leverages…

We study rotation-robust learning for image inputs using Convolutional Model Trees (CMTs) [1], whose split and leaf coefficients can be structured on the image grid and transformed geometrically at deployment time. In a controlled MNIST…

Discrete transforms, such as the discrete Fourier transform, are widely used in machine learning to improve model performance by extracting meaningful features. However, with numerous transforms available, selecting an appropriate one often…

6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a…

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…

Some group activities, such as team sports and choreographed dances, involve closely coupled interaction between participants. Here we investigate the tasks of inferring and predicting participant behavior, in terms of motion paths and…

Despite recent strides made by AI in image processing, the issue of mixed exposure, pivotal in many real-world scenarios like surveillance and photography, remains inadequately addressed. Traditional image enhancement techniques and current…