相关论文: HOT-POT: Optimal Transport for Sparse Stereo Match…

Optimal transport (OT) compares probability distributions by computing a meaningful alignment between their samples. CO-optimal transport (COOT) takes this comparison further by inferring an alignment between features as well. While this…

Optimal transport (OT) aims to find a map $T$ that transports mass from one probability measure to another while minimizing a cost function. Recently, neural OT solvers have gained popularity in high dimensional biological applications such…

This paper addresses the problem of estimating the 3-DoF camera pose for a ground-level image with respect to a satellite image that encompasses the local surroundings. We propose a novel end-to-end approach that leverages the learning of…

We present a new solution to tracking and mapping with an event camera. The motion of the camera contains both rotation and translation, and the displacements happen in an arbitrarily structured environment. As a result, the image matching…

Simultaneous localization and mapping (SLAM) is critical to the implementation of autonomous driving. Most LiDAR-inertial SLAM algorithms assume a static environment, leading to unreliable localization in dynamic environments. Moreover, the…

Ego-pose estimation and dynamic object tracking are two critical problems for autonomous driving systems. The solutions to these problems are generally based on their respective assumptions, \ie{the static world assumption for simultaneous…

Monocular simultaneous localization and mapping (SLAM) is emerging in advanced driver assistance systems and autonomous driving, because a single camera is cheap and easy to install. Conventional monocular SLAM has two major challenges…

In this paper, we propose a new framework for segmenting feature-based moving objects under affine subspace model. Since the feature trajectories in practice are high-dimensional and contain a lot of noise, we firstly apply the sparse PCA…

Outside-in multi-camera perception is increasingly important in indoor environments, where networks of static cameras must support multi-target tracking under occlusion and heterogeneous viewpoints. We evaluate Sparse4D, a query-based…

Stereo cameras are a popular choice for obstacle avoidance for outdoor lighweight, low-cost robotics applications. However, they are unable to sense thin and reflective objects well. Currently, many algorithms are tuned to perform well on…

Inspired by biological vision systems, the over-complete local features with huge cardinality are increasingly used for face recognition during the last decades. Accordingly, feature selection has become more and more important and plays a…

Multi-camera dynamic Augmented Reality (AR) applications require a camera pose estimation to leverage individual information from each camera in one common system. This can be achieved by combining contextual information, such as markers or…

Regularized optimal transport (OT) is now increasingly used as a loss or as a matching layer in neural networks. Entropy-regularized OT can be computed using the Sinkhorn algorithm but it leads to fully-dense transportation plans, meaning…

Airborne optical sectioning, an effective aerial synthetic aperture imaging technique for revealing artifacts occluded by forests, requires precise measurements of drone poses. In this article we present a new approach for reducing pose…

Popular 3D scan registration projects, such as Stanford digital Michelangelo or KinectFusion, exploit the high-resolution sensor data for scan alignment. It is particularly challenging to solve the registration of sparse 3D scans in the…

Computationally efficient moving object detection and depth estimation from a stereo camera is an extremely useful tool for many computer vision applications, including robotics and autonomous driving. In this paper we show how moving…

Accurate depth estimation is critical for autonomous driving perception systems, particularly for long range vehicle detection on highways. Traditional dense stereo matching methods such as Block Matching (BM) and Semi Global Matching (SGM)…

Optimal Transport (OT) naturally arises in many machine learning applications, yet the heavy computational burden limits its wide-spread uses. To address the scalability issue, we propose an implicit generative learning-based framework…

Direct methods for event-based visual odometry solve the mapping and camera pose tracking sub-problems by establishing implicit data association in a way that the generative model of events is exploited. The main bottlenecks faced by…

In this work, we present SpaRC, a novel Sparse fusion transformer for 3D perception that integrates multi-view image semantics with Radar and Camera point features. The fusion of radar and camera modalities has emerged as an efficient…