35 accepted papers
The growing adoption of compact and cost-effective solid-state LiDARs has greatly advanced robotics. However, their inherently limited Field-of-View (FOV) hinders their application in tasks requiring wide-range depth perception. To overcome this limitation, we introduce the Low Coverage Depth Comple
Cascade-based multi-scale architectures are currently the mainstream in Multi-view Stereo (MVS), achieving a balance between computational efficiency and reconstruction accuracy. However, existing cascade MVS methods suffer from significant limitations in cross-scale information utilization, where d
Parameter-efficient fine-tuning has emerged as a promising paradigm in RGB-T tracking, enabling downstream task adaptation by freezing pretrained parameters and fine-tuning only a small set of parameters. This set forms a rank space made up of multiple individual ranks, whose expressiveness directly
Vision Transformers (ViTs) have revolutionized computer vision, yet their self-attention mechanism lacks explicit spatial inductive biases, leading to suboptimal performance on spatially-structured tasks. Existing approaches introduce data-independent spatial decay based on fixed distance metrics, a
Learning-based Multi-View Stereo (MVS) methods have become the mainstream in the field, relying on the construction of cost Learning-based Multi-View Stereo (MVS) methods have become the mainstream in the field, relying on the construction of cost volumes through multi-view feature similarity comput
3D object detection is a critical component of autonomous driving, yet its performance degrades severely in adverse weather due to the degradation of LiDAR point clouds. While existing LiDAR-4D radar fusion methods enhance robustness by incorporating weather-robust 4D radar data, they often depend o
Following the rise of large foundation models, Vision–Language–Action models (VLAs) emerged, leveraging strong visual and language understanding for general-purpose policy learning. Yet, the current VLA landscape remains fragmented and exploratory. Although many groups have proposed their own VLA mo…
Hyperspectral imaging plays a critical role in numerous scientific and industrial fields. Conventional hyperspectral imaging systems often struggle with the trade-off between capture speed, spectral resolution, and bandwidth, particularly in dynamic environments. In this work, we present a novel eve…
Real-time dense depth completion has become a critical enabling technology for autonomous systems requiring instant environment perception, such as self-driving vehicles and robotics. While recent depth completion methods achieve remarkable accuracy, their computational complexity often exceeds the
"Gaze object prediction (GOP) aims to predict the category and location of the object that a human is looking at. Previous methods utilized box-level supervision to identify the object that a person is looking at, but struggled with semantic ambiguity, , a single box may contain several items since…
We observe a high level of imbalance in the accuracy of different learned classes in the same old task for the first time. This intriguing phenomenon, discovered in replay-based Class Incremental Learning (CIL), highlights the imbalanced forgetting of learned classes, as their accuracy is similar be…
"The spike camera continuously records scene radiance with high-speed, high dynamic range, and low data redundancy properties, as a promising replacement for frame-based high-speed cameras. Previous methods for reconstructing color videos from monochromatic spikes are constrained in capturing full-t…
The spiking camera is an emerging neuromorphic vision sensor that records high-speed motion scenes by asynchronously firing continuous binary spike streams. Prevailing image reconstruction methods, generating intermediate frames from these spike streams, often rely on complex step-by-step network ar…
The spiking cameras offer the benefits of high dynamic range (HDR) high temporal resolution and low data redundancy. However reconstructing HDR videos in high-speed conditions using single-bit spikings presents challenges due to the limited bit depth. Increasing the bit depth of the spikings is adva…
Event-intensity asymmetric stereo systems have emerged as a promising approach for robust 3D perception in dynamic and challenging environments by integrating event cameras with frame-based sensors in different views. However, existing methods often suffer from overfitting and poor generalization du…
Thanks to the excellent global modeling capability of attention mechanisms, the Vision Transformer has achieved better results than ConvNet in many computer tasks. However, in generating hierarchical feature maps, the Transformer still adopts the ConvNet feature aggregation scheme. This leads to the…
Rolling shutter correction (RSC) is becoming increasingly popular for RS cameras that are widely used in commercial and industrial applications. Despite the promising performance, existing RSC methods typically employ a two-stage network structure that ignores intrinsic information interactions and…
Visual localization plays a key role in various robot perception systems. Robust visual localization relies on reliable and repeatable local features to establish high quality point correspondences among images. This letter focuses on addressing two limitations of joint learning detector and descrip
With the ubiquity of rolling shutter (RS) cameras, it is becoming increasingly attractive to recover the latent global shutter (GS) video from two consecutive RS frames, which also places a higher demand on realism. Existing solutions, using deep neural networks or optimization, achieve promising pe…
Robust and efficient local descriptor is crucial in a wide range of applications. In this paper, we propose a novel descriptor DomainDesc which is invariant as much as possible by learning local Descriptor with Domain adaptation. We design the feature-level domain adaptation loss to improve robustne…
Limited by the locality of convolutional neural networks, most existing local features description methods only learn local descriptors with local information and lack awareness of global and surrounding spatial context. In this work, we focus on making local descriptors ``look wider to describe bet…
"There is an increasing need to determine whether inputs are out-of-distribution (OOD) for safely deploying machine learning models in the open world scenario. Typical neural classifiers are based on the closed-world assumption, where the training data and the test data are drawn i.i.d. from the sam…
"Stereo depth estimation is particularly amenable to local textured regions while echoes have good depth estimations for global textureless regions, thus the two modalities complement each other. Motivated by the reciprocal relationship between both modalities, in this paper, we propose an end-to-en…
Rolling shutter (RS) images can be viewed as the result of the row-wise combination of global shutter (GS) images captured by a virtual moving GS camera over the period of camera readout time. The RS effect brings tremendous difficulties for the downstream applications. In this paper, we propose to…
The vast majority of modern consumer-grade cameras employ a rolling shutter mechanism, leading to image distortions if the camera moves during image acquisition. In this paper, we present a novel deep network to solve the generic rolling shutter correction problem with two consecutive frames. Our pi…
Current state-of-the-art detectors typically exploit feature pyramid to detect objects at different scales. Among them, FPN is one of the representative works that build a feature pyramid by multi-scale features summation. However, the design defects behind prevent the multi-scale features from bein…
Emergent hardwares can support mixed precision CNN models inference that assign different bitwidths for different layers. Learning to find an optimal mixed precision model that can preserve accuracy and satisfy the specific constraints on model size and computation is extremely challenge due to the…
Point cloud processing is very challenging, as the diverse shapes formed by irregular points are often indistinguishable. A thorough grasp of the elusive shape requires sufficiently contextual semantic information, yet few works devote to this. Here we propose DensePoint, a general architecture to l…
Transferring image-based object detectors to the domain of videos remains a challenging problem. Previous efforts mostly exploit optical flow to propagate features across frames, aiming to achieve a good trade-off between accuracy and efficiency. However, introducing an extra model to estimate optic…
Point cloud analysis is very challenging, as the shape implied in irregular points is difficult to capture. In this paper, we propose RS-CNN, namely, Relation-Shape Convolutional Neural Network, which extends regular grid CNN to irregular configuration for point cloud analysis. The key to RS-CNN is…
Despite the fact that Second Order Similarity (SOS) has been used with significant success in tasks such as graph matching and clustering, it has not been exploited for learning local descriptors. In this work, we explore the potential of \sos in the field of descriptor learning by building upon the…
The research focus of designing local patch descriptors has gradually shifted from handcrafted ones (e.g., SIFT) to learned ones. In this paper, we propose to learn high per- formance descriptor in Euclidean space via the Convolu- tional Neural Network (CNN). Our method is distinctive in four aspect…
Cayley-Klein metric is a kind of non-Euclidean metric suitable for projective space. In this paper, we introduce it into the computer vision community as a powerful metric and an alternative to the widely studied Mahalanobis metric. We show that besides its good characteristic in non-Euclidean space…
Local feature descriptor plays a fundamental role in many visual tasks, and its rotation invariance is a key issue for many recognition and detection problems. This paper proposes a novel rotation invariant descriptor by ordinal pyramid pooling of local Fourier transform features based on their radi…
Hashing is very effective for many tasks in reducing the processing time and in compressing massive databases. Although lots of approaches have been developed to learn data-dependent hash functions in recent years, how to learn hash functions to yield good performance with acceptable computational a…