18 accepted papers
Disentangled representation learning aims to identify and organize the underlying sources of variation in observed data. However, learning disentangled representations without any additional supervision necessitates inductive biases to solve the fundamental identifiability problem of uniquely recove…
Images can be viewed as layered compositions, foreground objects over background, with potential occlusions. This layered representation enables independent editing of elements, offering greater flexibility for content creation. Despite the progress in large generative models, decomposing a single i
Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle visual tasks in challenging scenarios. However, due to the sparse information content in individual events, directl…
Video Frame Interpolation aims to recover realistic missing frames between observed frames, generating a high-frame-rate video from a low-frame-rate video. However, without additional guidance, large motion between frames makes this problem ill-posed. Event-based Video Frame Interpolation (EVFI) add…
We propose VecKM, a local point cloud geometry encoder that is descriptive and efficient to compute. VecKM leverages a unique approach by vectorizing a kernel mixture to represent the local point cloud. Such representation's descriptiveness is supported by two theorems that validate its ability to r…
We propose Hyper-Dimensional Function Encoding (HDFE). Given samples of a continuous object (e.g. a function), HDFE produces an explicit vector representation of the given object, invariant to the sample distribution and density. Sample distribution and density invariance enables HDFE to consistentl…
Videos are more informative than images becausethey capture the dynamics of the scene.By representing motion in videos, we can capturedynamic activities. In this work, we introduceGPT-4 generated motion descriptions thatcapture fine-grained motion descriptions of activitiesand apply them to three ac…
By combining differentiable rendering with explicit point-based scene representations, 3D Gaussian Splatting (3DGS) has demonstrated breakthrough 3D reconstruction capabilities. However, to date 3DGS has had limited impact on robotics, where high-speed egomotion is pervasive: Egomotion introduc…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and adjusting the global plan from sensor feedback. The main co…
Atmospheric turbulence, caused by random fluctuations in the atmosphere's refractive index, introduces complex spatio-temporal distortions in imagery captured at long range. Video Atmospheric Turbulence Mitigation (ATM) aims to restore videos affected by these distortions. However, existing video AT…
Feedback plays a prominent role in biological vision, where perception is modulated based on agents' evolving expectations and world model. We introduce a novel mechanism which modulates perception based on high level categorical expectations: Mid-Vision Feedback (MVF). MVF associates high level con…
Event-based cameras have been designed for scene motion perception - their high temporal resolution and spatial data sparsity converts the scene into a volume of boundary trajectories and allows to track and analyze the evolution of the scene in time. Analyzing this data is computationally expensive…
Convolution is a central operation in Convolutional Neural Networks (CNNs), which applies a kernel to overlapping regions shifted across the image. However, because of the strong correlations in real-world image data, convolutional kernels are in effect re-learning redundant data. In this work, we…
Clustering is crucial for many computer vision applications such as robust tracking, object detection and segmentation. This work presents a real-time clustering technique that takes advantage of the unique properties of event-based vision sensors. Since event-based sensors trigger events only when…
The bio-inspired, asynchronous event-based dynamic vision sensor records temporal changes in the luminance of the scene at high temporal resolution. Since events are only triggered at significant luminance changes, most events occur at the boundary of objects and their parts. The detection of these…
Symmetry, as one of the key components of Gestalt theory, provides an important mid-level cue that serves as input to higher visual processes such as segmentation. In this work, we propose a complete approach that links the detection of curved reflection symmetries to produce symmetry-constrained se…
A method for efficient border ownership assignment in 2D images is proposed. Leveraging on recent advances using Structured Random Forests (SRF) for boundary detection, we impose a novel border ownership structure that detects both boundaries and border ownership at the same time. Key to this work a…
The grasp type provides crucial information about human action. However, recognizing the grasp type in unconstrained scenes is challenging because of the large variations in appearance, occlusions and geometric distortions. In this paper, first we present a convolutional neural network to classify…