Related papers: Maintaining Arrays of Contiguous Objects
We propose a novel method to tackle the visual-inertial localization problem for constrained camera movements. We use residuals from the different modalities to jointly optimize a global cost function. The residuals emerge from IMU…
The quest for efficient sorting is ongoing, and we will explore a graph-based stable sorting strategy, in particular employing comparison graphs. We use the topological sort to map the comparison graph to a linear domain, and we can…
We consider the configuration formation problem in modular robotic systems where a set of singleton modules that are spatially distributed in an environment are required to assume appropriate positions so that they can configure into a new,…
In this paper, we focus on how to dynamically allocate a divisible resource fairly among n players who arrive and depart over time. The players may have general heterogeneous valuations over the resource. It is known that the exact…
We describe a mathematical formalism and numerical algorithms for identifying and tracking slowly mixing objects in nonautonomous dynamical systems. In the autonomous setting, such objects are variously known as almost-invariant sets,…
We study the problem of segmenting moving objects in unconstrained videos. Given a video, the task is to segment all the objects that exhibit independent motion in at least one frame. We formulate this as a learning problem and design our…
The representation of a dynamic ordered set of $n$ integer keys drawn from a universe of size $m$ is a fundamental data structuring problem. Many solutions to this problem achieve optimal time but take polynomial space, therefore preserving…
Tracking by detection, the dominant approach for online multi-object tracking, alternates between localization and association steps. As a result, it strongly depends on the quality of instantaneous observations, often failing when objects…
Multidimensional persistence has been proposed to study the persistence of topological features in data indexed by multiple parameters. In this work, we further explore its algebraic complications from the point of view of higher…
Persistence modules are representations of products of totally ordered sets in the category of vector spaces. They appear naturally in the representation theory of algebras, but in recent years they have also found applications in other…
We present efficient dynamic data structures for maintaining the union of unit discs and the lower envelope of pseudo-lines in the plane. More precisely, we present three main results in this paper: (i) We present a linear-size data…
Understanding the dynamics of evolving social or infrastructure networks is a challenge in applied areas such as epidemiology, viral marketing, or urban planning. During the past decade, data has been collected on such networks but has yet…
A mesh is a graph that divides physical space into regularly-shaped regions. Meshes computations form the basis of many applications, e.g. finite-element methods, image rendering, and collision detection. In one important mesh primitive,…
This paper describes serial and parallel compositional models of multiple objects with part sharing. Objects are built by part-subpart compositions and expressed in terms of a hierarchical dictionary of object parts. These parts are…
For any persistence module $M$ over a finite poset $\mathbf{P}$, and any interval $I$ of $\mathbf{P}$, we give a formula for the multiplicity $d_M(V_I)$ of the interval module $V_I$ in the indecomposable decomposition of $M$ in terms of the…
This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the…
We present fully dynamic approximation algorithms for the Maximum Independent Set problem on several types of geometric objects: intervals on the real line, arbitrary axis-aligned squares in the plane and axis-aligned $d$-dimensional…
This paper studies the problem of object discovery -- separating objects from the background without manual labels. Existing approaches utilize appearance cues, such as color, texture, and location, to group pixels into object-like regions.…
We consider the offline sorting buffer problem. The input is a sequence of items of different types. All items must be processed one by one by a server. The server is equipped with a random-access buffer of limited capacity which can be…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…