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3D localization in Multimodal Large Language Models (MLLMs), including 3D object detection and 3D visual grounding, is fundamentally limited by camera intrinsic ambiguity: the same image admits different 3D scenes under different cameras.…
Machine vision and image processing are often used with sensors for situation awareness in autonomous systems, from industrial robots to self-driving cars. The 3D depth sensors, such as LiDAR (Light Detection and Ranging), Radar, are great…
Seismic inversion and imaging are adjoint-based optimization problems that process up to terabytes of data, regularly exceeding the memory capacity of available computers. Data compression is an effective strategy to reduce this memory…
Accurate camera calibration is a well-known and widely used task in computer vision that has been researched for decades. However, the standard approach based on checkerboard calibration patterns has some drawbacks that limit its…
The problems of computational data processing involving regression, interpolation, reconstruction and imputation for multidimensional big datasets are becoming more important these days, because of the availability of data and their widely…
The reweighting method is widely used in numerical studies of QCD, in particular, for the cases in which the conventional Monte-Carlo method cannot be applied directly, e.g., finite density QCD. However, the application range of the…
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…
Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…
In this paper, we propose composable part-based manipulation (CPM), a novel approach that leverages object-part decomposition and part-part correspondences to improve learning and generalization of robotic manipulation skills. By…
The task of camera calibration is to estimate the intrinsic and extrinsic parameters of a camera model. Though there are some restricted techniques to infer the 3-D information about the scene from uncalibrated cameras, effective camera…
Time-of-flight cameras provide depth information, which is complementary to the photometric appearance of the scene in ordinary images. It is desirable to merge the depth and colour information, in order to obtain a coherent scene…
We present Measure Anything, a comprehensive vision-based framework for dimensional measurement of objects with circular cross-sections, leveraging the Segment Anything Model (SAM). Our approach estimates key geometric features -- including…
We propose an L1-penalized algorithm for fitting high-dimensional generalized linear mixed models. Generalized linear mixed models (GLMMs) can be viewed as an extension of generalized linear models for clustered observations. This…
Multidimensional Scaling (MDS) is a classic technique that seeks vectorial representations for data points, given the pairwise distances between them. However, in recent years, data are usually collected from diverse sources or have…
We present a cost-efficient and versatile method to map an unknown 3D freeform surface using only sparse measurements while the end-effector of a robotic manipulator moves along the surface. The geometry is locally approximated by a plane,…
Computer model calibration is a crucial step in building a reliable computer model. In the face of massive physical observations, a fast estimation for the calibration parameters is urgently needed. To alleviate the computational burden, we…
Multidimensional projections (MP) are among the most essential approaches in the visual analysis of multidimensional data. It transforms multidimensional data into two-dimensional representations that may be shown as scatter plots while…
We consider the problem of positioning a cloud of points in the Euclidean space $\mathbb{R}^d$, using noisy measurements of a subset of pairwise distances. This task has applications in various areas, such as sensor network localization and…
We generalize the classical Multidimensional Scaling procedure to the setting of general metric measure spaces. We develop a related spectral theory for the generalized cMDS operator, which provides a more natural and rigorous mathematical…
For a long time, people have been focusing on how to extract more information, such as off-diagonal observables, from the quantum Monte Carlo (QMC) simulation of the partition function, but there have been numerous difficulties, and many of…