A Neuromorphic Incipient Slip Detection System using Papillae Morphology

Detecting incipient slip enables early intervention to prevent object slippage and enhance robotic manipulation safety. However, deploying such systems on edge platforms remains challenging, particularly due to energy constraints. This work presents a neuromorphic tactile sensing system based on the NeuroTac sensor with an extruding papillae-based skin and a spiking convolutional neural network (SCNN) for slip-state classification. The SCNN model achieves 94.33% classification accuracy across three classes (no slip, incipient slip, and gross slip) in slip conditions induced by sensor motion. Under the dynamic gravity-induced slip validation conditions, after temporal smoothing of the SCNN's final-layer spike counts, the system detects incipient slip at least 360 ms prior to gross slip across all trials, consistently identifying incipient slip before gross slip occurs. These results demonstrate that this neuromorphic system has stable and responsive incipient slip detection capability.

Computational Imaging for Enhanced Computer Vision

This paper presents a comprehensive survey of computational imaging (CI) techniques and their transformative impact on computer vision (CV) applications. Conventional imaging methods often fail to deliver high-fidelity visual data in challenging conditions, such as low light, motion blur, or high dynamic range scenes, thereby limiting the performance of state-of-the-art CV systems. Computational imaging techniques, including light field imaging, high dynamic range (HDR) imaging, deblurring, high-speed imaging, and glare mitigation, address these limitations by enhancing image acquisition and reconstruction processes. This survey systematically explores the synergies between CI techniques and core CV tasks, including object detection, depth estimation, optical flow, face recognition, and keypoint detection. By analyzing the relationships between CI methods and their practical contributions to CV applications, this work highlights emerging opportunities, challenges, and future research directions. We emphasize the potential for task-specific, adaptive imaging pipelines that improve robustness, accuracy, and efficiency in real-world scenarios, such as autonomous navigation, surveillance, augmented reality, and robotics.

Sparse BEV Fusion with Self-View Consistency for Multi-View Detection and Tracking

Multi-View Multi-Object Tracking (MVMOT) is essential for applications such as surveillance, autonomous driving, and sports analytics. However, maintaining consistent object identities across multiple cameras remains challenging due to viewpoint changes, lighting variations, and occlusions, which often lead to tracking errors.Recent methods project features from multiple cameras into a unified Bird's-Eye-View (BEV) space to improve robustness against occlusion. However, this projection introduces feature distortion and non-uniform density caused by variations in object scale with distance. These issues degrade the quality of the fused representation and reduce detection and tracking accuracy.To address these problems, we propose SCFusion, a framework that combines three techniques to improve multi-view feature integration. First, it applies a sparse transformation to avoid unnatural interpolation during projection. Next, it performs density-aware weighting to adaptively fuse features based on spatial confidence and camera distance. Finally, it introduces a multi-view consistency loss that encourages each camera to learn discriminative features independently before fusion.Experiments show that SCFusion achieves state-of-the-art performance, reaching an IDF1 score of 95.9% on WildTrack and a MODP of 89.2% on MultiviewX, outperforming the baseline method TrackTacular. These results demonstrate that SCFusion effectively mitigates the limitations of conventional BEV projection and provides a robust and accurate solution for multi-view object detection and tracking.

FPI-Det: a face--phone Interaction Dataset for phone-use detection and understanding

The widespread use of mobile devices has created new challenges for vision systems in safety monitoring, workplace productivity assessment, and attention management. Detecting whether a person is using a phone requires not only object recognition but also an understanding of behavioral context, which involves reasoning about the relationship between faces, hands, and devices under diverse conditions. Existing generic benchmarks do not fully capture such fine-grained human--device interactions. To address this gap, we introduce the FPI-Det, containing 22{,}879 images with synchronized annotations for faces and phones across workplace, education, transportation, and public scenarios. The dataset features extreme scale variation, frequent occlusions, and varied capture conditions. We evaluate representative YOLO and DETR detectors, providing baseline results and an analysis of performance across object sizes, occlusion levels, and environments. Source code and dataset is available at https://github.com/KvCgRv/FPI-Det.

Similarity-based Outlier Detection for Noisy Object Re-Identification Using Beta Mixtures

Object re-identification (Re-ID) methods are highly sensitive to label noise, which typically leads to significant performance degradation. We address this challenge by reframing Re-ID as a supervised image similarity task and adopting a Siamese network architecture trained to capture discriminative pairwise relationships. Central to our approach is a novel statistical outlier detection (OD) framework, termed Beta-SOD (Beta mixture Similarity-based Outlier Detection), which models the distribution of cosine similarities between embedding pairs using a two-component Beta distribution mixture model. We establish a novel identifiability result for mixtures of two Beta distributions, ensuring that our learning task is well-posed.The proposed OD step complements the Re-ID architecture combining binary cross-entropy, contrastive, and cosine embedding losses that jointly optimize feature-level similarity learning.We demonstrate the effectiveness of Beta-SOD in de-noising and Re-ID tasks for person Re-ID, on CUHK03 and Market-1501 datasets, and vehicle Re-ID, on VeRi-776 dataset. Our method shows superior performance compared to the state-of-the-art methods across various noise levels (10-30\%), demonstrating both robustness and broad applicability in noisy Re-ID scenarios. The implementation of Beta-SOD is available at: https://github.com/waqar3411/Beta-SOD

MVAT: Multi-View Aware Teacher for Weakly Supervised 3D Object Detection

Annotating 3D data remains a costly bottleneck for 3D object detection, motivating the development of weakly supervised annotation methods that rely on more accessible 2D box annotations. However, relying solely on 2D boxes introduces projection ambiguities since a single 2D box can correspond to multiple valid 3D poses. Furthermore, partial object visibility under a single viewpoint setting makes accurate 3D box estimation difficult. We propose MVAT, a novel framework that leverages temporal multi-view present in sequential data to address these challenges. Our approach aggregates object-centric point clouds across time to build 3D object representations as dense and complete as possible. A Teacher-Student distillation paradigm is employed: The Teacher network learns from single viewpoints but targets are derived from temporally aggregated static objects. Then the Teacher generates high quality pseudo-labels that the Student learns to predict from a single viewpoint for both static and moving objects. The whole framework incorporates a multi-view 2D projection loss to enforce consistency between predicted 3D boxes and all available 2D annotations. Experiments on the nuScenes and Waymo Open datasets demonstrate that MVAT achieves state-of-the-art performance for weakly supervised 3D object detection, significantly narrowing the gap with fully supervised methods without requiring any 3D box annotations. % \footnote{Code available upon acceptance} Our code is available in our public repository (\href{https://github.com/CEA-LIST/MVAT}{code}).

SFD-Mamba2Net: Strcture-Guided Frequency-Enhanced Dual-Stream Mamba2 Network for Coronary Artery Segmentation

Background: Coronary Artery Disease (CAD) is one of the leading causes of death worldwide. Invasive Coronary Angiography (ICA), regarded as the gold standard for CAD diagnosis, necessitates precise vessel segmentation and stenosis detection. However, ICA images are typically characterized by low contrast, high noise levels, and complex, fine-grained vascular structures, which pose significant challenges to the clinical adoption of existing segmentation and detection methods. Objective: This study aims to improve the accuracy of coronary artery segmentation and stenosis detection in ICA images by integrating multi-scale structural priors, state-space-based long-range dependency modeling, and frequency-domain detail enhancement strategies. Methods: We propose SFD-Mamba2Net, an end-to-end framework tailored for ICA-based vascular segmentation and stenosis detection. In the encoder, a Curvature-Aware Structural Enhancement (CASE) module is embedded to leverage multi-scale responses for highlighting slender tubular vascular structures, suppressing background interference, and directing attention toward vascular regions. In the decoder, we introduce a Progressive High-Frequency Perception (PHFP) module that employs multi-level wavelet decomposition to progressively refine high-frequency details while integrating low-frequency global structures. Results and Conclusions: SFD-Mamba2Net consistently outperformed state-of-the-art methods across eight segmentation metrics, and achieved the highest true positive rate and positive predictive value in stenosis detection.

CrowdQuery: Density-Guided Query Module for Enhanced 2D and 3D Detection in Crowded Scenes

This paper introduces a novel method for end-to-end crowd detection that leverages object density information to enhance existing transformer-based detectors. We present CrowdQuery (CQ), whose core component is our CQ module that predicts and subsequently embeds an object density map. The embedded density information is then systematically integrated into the decoder. Existing density map definitions typically depend on head positions or object-based spatial statistics. Our method extends these definitions to include individual bounding box dimensions. By incorporating density information into object queries, our method utilizes density-guided queries to improve detection in crowded scenes. CQ is universally applicable to both 2D and 3D detection without requiring additional data. Consequently, we are the first to design a method that effectively bridges 2D and 3D detection in crowded environments. We demonstrate the integration of CQ into both a general 2D and 3D transformer-based object detector, introducing the architectures CQ2D and CQ3D. CQ is not limited to the specific transformer models we selected. Experiments on the STCrowd dataset for both 2D and 3D domains show significant performance improvements compared to the base models, outperforming most state-of-the-art methods. When integrated into a state-of-the-art crowd detector, CQ can further improve performance on the challenging CrowdHuman dataset, demonstrating its generalizability. The code is released at https://github.com/mdaehl/CrowdQuery.

A smart fridge with AI-enabled food computing

The Internet of Things (IoT) plays a crucial role in enabling seamless connectivity and intelligent home automation, particularly in food management. By integrating IoT with computer vision, the smart fridge employs an ESP32-CAM to establish a monitoring subsystem that enhances food management efficiency through real-time food detection, inventory tracking, and temperature monitoring. This benefits waste reduction, grocery planning improvement, and household consumption optimization. In high-density inventory conditions, capturing partial or layered images complicates object detection, as overlapping items and occluded views hinder accurate identification and counting. Besides, varied angles and obscured details in multi-layered setups reduce algorithm reliability, often resulting in miscounts or misclassifications. Our proposed system is structured into three core modules: data pre-processing, object detection and management, and a web-based visualization. To address the challenge of poor model calibration caused by overconfident predictions, we implement a variant of focal loss that mitigates over-confidence and under-confidence in multi-category classification. This approach incorporates adaptive, class-wise error calibration via temperature scaling and evaluates the distribution of predicted probabilities across methods. Our results demonstrate that robust functional calibration significantly improves detection reliability under varying lighting conditions and scalability challenges. Further analysis demonstrates a practical, user-focused approach to modern food management, advancing sustainable living goals through reduced waste and more informed consumption.

DEPF: A UAV Multispectral Object Detector with Dual-Domain Enhancement and Priority-Guided Mamba Fusion

Multispectral remote sensing object detection is one of the important application of unmanned aerial vehicle (UAV). However, it faces three challenges. Firstly, the low-light remote sensing images reduce the complementarity during multi-modality fusion. Secondly, the local small target modeling is interfered with redundant information in the fusion stage easily. Thirdly, due to the quadratic computational complexity, it is hard to apply the transformer-based methods on the UAV platform. To address these limitations, motivated by Mamba with linear complexity, a UAV multispectral object detector with dual-domain enhancement and priority-guided mamba fusion (DEPF) is proposed. Firstly, to enhance low-light remote sensing images, Dual-Domain Enhancement Module (DDE) is designed, which contains Cross-Scale Wavelet Mamba (CSWM) and Fourier Details Recovery block (FDR). CSWM applies cross-scale mamba scanning for the low-frequency components to enhance the global brightness of images, while FDR constructs spectrum recovery network to enhance the frequency spectra features for recovering the texture-details. Secondly, to enhance local target modeling and reduce the impact of redundant information during fusion, Priority-Guided Mamba Fusion Module (PGMF) is designed. PGMF introduces the concept of priority scanning, which starts from local targets features according to the priority scores obtained from modality difference. Experiments on DroneVehicle dataset and VEDAI dataset reports that, DEPF performs well on object detection, comparing with state-of-the-art methods. Our code is available in the supplementary material.