Eunho Lee

Eunho Lee, Chaehyeon Song, Seunghoon Jeong et al.

Category-level object pose estimation requires both global context and local structure to ensure robustness against intra-class variations. However, 3D graph convolution (3D-GC) methods only focus on local geometry and depth information, making them vulnerable to complex objects and visual ambiguities. To address this, we present THE-Pose, a novel category-level 6D pose estimation framework that leverages a topological prior via surface embedding and hybrid graph fusion. Specifically, we extract consistent and invariant topological features from the image domain, effectively overcoming the limitations inherent in existing 3D-GC based methods. Our Hybrid Graph Fusion (HGF) module adaptively integrates the topological features with point-cloud features, seamlessly bridging 2D image context and 3D geometric structure. These fused features ensure stability for unseen or complicated objects, even under significant occlusions. Extensive experiments on the REAL275 dataset show that THE-Pose achieves a 35.8% improvement over the 3D-GC baseline (HS-Pose) and surpasses the previous state-of-the-art by 7.2% across all key metrics. The code is avaialbe on https://github.com/EHxxx/THE-Pose

Eunbin Seo, Gwanjun Shin, Eunho Lee

This paper proposes a specialized autonomous driving system that takes into account the unique constraints and characteristics of automotive systems, aiming for innovative advancements in autonomous driving technology. The proposed system systematically analyzes the intricate data flow in autonomous driving and provides functionality to dynamically adjust various factors that influence deep learning models. Additionally, for algorithms that do not rely on deep learning models, the system analyzes the flow to determine resource allocation priorities. In essence, the system optimizes data flow and schedules efficiently to ensure real-time performance and safety. The proposed system was implemented in actual autonomous vehicles and experimentally validated across various driving scenarios. The experimental results provide evidence of the system's stable inference and effective control of autonomous vehicles, marking a significant turning point in the development of autonomous driving systems.

Sieun Park, Eunho Lee

Recently, there has been discussions on the ill-posed nature of super-resolution that multiple possible reconstructions exist for a given low-resolution image. Using normalizing flows, SRflow[23] achieves state-of-the-art perceptual quality by learning the distribution of the output instead of a deterministic output to one estimate. In this paper, we adapt the concepts of SRFlow to improve GAN-based super-resolution by properly implementing the one-to-many property. We modify the generator to estimate a distribution as a mapping from random noise. We improve the content loss that hampers the perceptual training objectives. We also propose additional training techniques to further enhance the perceptual quality of generated images. Using our proposed methods, we were able to improve the performance of ESRGAN[1] in x4 perceptual SR and achieve the state-of-the-art LPIPS score in x16 perceptual extreme SR by applying our methods to RFB-ESRGAN[21].