11 accepted papers
Robotic perception often requires solving large nonlinear least-squares (NLS) problems. While sparsity has been well-exploited to scale solvers, a complementary and underexploited structure is emph{separability} -- where some variables (e.g., visual landmarks) enter the residuals linearly and, for a…
Recent advances in 3D scene reconstruction, such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting, have demonstrated remarkable results in novel view synthesis and dynamic scene representation. Despite these successes, existing approaches rely on time-synchronized multi-view imagery captur
Real-time high-accuracy optical flow estimation is critical for a variety of real-world robotic applications. However, current learning-based methods often struggle to balance accuracy and computational efficiency: methods that achieve high accuracy typically demand substantial processing power, whi
Real-time high-accuracy optical flow estimation is a crucial component in various applications, including localization and mapping in robotics, object tracking, and activity recognition in computer vision. While recent learning-based optical flow methods have achieved high accuracy, they often come…
The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization, and mapping is essential for the success of downstream control tasks. However, when designing a new r…
Evaluating autonomous ground vehicles requires evaluating their mobility performance. Since autonomous vehicles are envisioned to make decisions in a variety of situations and environments too diverse to practically assess with only physical testing, their development, and evaluation will necessaril…
Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. This paper presents a generic sparse visual SLAM framework capable of running on any number of cameras and in any arrange
There has been a drastic shift to remote interaction for professional, industrial and personal interactions. Improving the overall quality of these interactions by removing any sense of distance between the users is the ultimate goal. Video conferencing has been widely adopted as an improvement to a…
This paper proposes a systems level solution for addressing the problem of mapping large moving targets with slow but complicated dynamics. Our approach utilizes the complementary nature of multiple sensing modalities. While this work is applicable to other domains we focus our efforts on mapping ro
Typical autonomous robotics systems incorporate multiple cameras, LIDAR sensors and sophisticated computing resources. In this paper we present a software framework for utilizing any array of multiple cameras with sufficient field-of-view (FOV) overlap as a light field imaging system. We show that t…
This paper explores the use of a Bayesian nonparametric topic modeling technique for the purpose of anomaly detection in video data. We present results from two experiments. The first experiment shows that the proposed technique is automatically able characterize the underlying terrain, and detect a