Related papers: Polygon Exploration with Time-Discrete Vision
We describe a polynomial time algorithm that takes as input a polygon with axis-parallel sides but irrational vertex coordinates, and outputs a set of as few rectangles as possible into which it can be dissected by axis-parallel cuts and…
Graph partition is a key component to achieve workload balance and reduce job completion time in parallel graph processing systems. Among the various partition strategies, edge partition has demonstrated more promising performance in…
In the maximum independent set of convex polygons problem, we are given a set of $n$ convex polygons in the plane with the objective of selecting a maximum cardinality subset of non-overlapping polygons. Here we study a special case of the…
This paper addresses the problem of planning for a robot with a directional obstacle-detection sensor that must move through a cluttered environment. The planning objective is to remain safe by finding a path for the complete robot,…
Service robots are expected to operate effectively in human-centric environments for long periods of time. In such realistic scenarios, fine-grained object categorization is as important as basic-level object categorization. We tackle this…
We propose an algorithmic framework for efficient anytime motion planning on large dense geometric roadmaps, in domains where collision checks and therefore edge evaluations are computationally expensive. A large dense roadmap (graph) can…
We study a problem of online targets coverage by a drone or a sensor that is equipped with a camera or an antenna of fixed half-angle of view $\alpha$. The targets to be monitored appear at arbitrary positions on a line barrier in an online…
We address the unsupervised learning of several interconnected problems in low-level vision: single view depth prediction, camera motion estimation, optical flow, and segmentation of a video into the static scene and moving regions. Our key…
A strategy is proposed for characterizing the worst-case performance of algorithms for solving nonconvex smooth optimization problems. Contemporary analyses characterize worst-case performance by providing, under certain assumptions on an…
The paper considers the minimization of a separable convex function subject to linear ascending constraints. The problem arises as the core optimization in several resource allocation scenarios, and is a special case of an optimization of a…
We present a general technique, based on parametric search with some twist, for solving a variety of optimization problems on a set of semi-algebraic geometric objects of constant complexity. The common feature of these problems is that…
Linear convergence of first-order methods is typically characterized by global optimization conditions whose constants reflect worst-case geometry of the ambient space. In high-dimensional or structured problems, these global constants can…
Due to some significantly contradicting research results, we reconsider the problem of the online exploration of a simple grid cell environment. In this model an agent attains local information about the direct four-neigbourship of a…
Prune-and-search is an important paradigm for solving many important geometric problems. We show that the general prune-and-search technique can be implemented where the objects are given in read-only memory. As examples we consider…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
The need for fast, effective and accurate surveys have become increasingly necessary. A major part of the research is supported by photographic surveys which are used for capturing expansive natural surfaces using a wide range of sensors --…
This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…
Robustness problems due to the substitution of the exact computation on real numbers by the rounded floating point arithmetic are often an obstacle to obtain practical implementation of geometric algorithms. If the adoption of the --exact…
Many optimization algorithms converge to stationary points. When the underlying problem is nonconvex, they may get trapped at local minimizers and occasionally stagnate near saddle points. We propose the Run-and-Inspect Method, which adds…
In this paper, we study the following problem of reconstructing a simple polygon: Given a cyclically ordered vertex sequence of an unknown simple polygon P of n vertices and, for each vertex v of P, the sequence of angles defined by all the…