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We consider the problem of anomaly detection in images, and present a new detection technique. Given a sample of images, all known to belong to a "normal" class (e.g., dogs), we show how to train a deep neural model that can detect…

Multiplicity correlation measurements provide insight into the dynamics of high energy collisions. Models describing these collisions need these correlation measurements to tune the strengths of the underlying QCD processes which influence…

Geometric rounding of a mesh is the task of approximating its vertex coordinates by floating point numbers while preserving mesh structure. Geometric rounding allows algorithms of computational geometry to interface with numerical…

Recent work has shown good recognition results in 3D object recognition using 3D convolutional networks. In this paper, we show that the object orientation plays an important role in 3D recognition. More specifically, we argue that objects…

Vectors fields defined on surfaces constitute relevant and useful representations but are rarely used. One reason might be that comparing vector fields across two surfaces of the same genus is not trivial: it requires to transport the…

We describe a computer algorithm that searches for substitution rules on a set of triangles, the angles of which are all integer multiples of {\pi}/n. We find new substitution rules admitting 7-fold rotational symmetry at many different…

Map matching and registration are essential tasks in robotics for localisation and integration of multi-session or multi-robot data. Traditional methods rely on cameras or LiDARs to capture visual or geometric information but struggle in…

We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most…

Cascaded regression method is a fast and accurate method on finding 2D pose of objects in RGB images. It is able to find the accurate pose of objects in an image by a great number of corrections on the good initial guess of the pose of…

Detecting oriented objects along with estimating their rotation information is one crucial step for analyzing remote sensing images. Despite that many methods proposed recently have achieved remarkable performance, most of them directly…

3D motion tracking is a critical task in many computer vision applications. Unsupervised markerless 3D motion tracking systems determine the most relevant object in the screen and then track it by continuously estimating its projection…

Existing rotated object detectors are mostly inherited from the horizontal detection paradigm, as the latter has evolved into a well-developed area. However, these detectors are difficult to perform prominently in high-precision detection…

Geometric torsions are torsions of acyclic complexes of vector spaces which consist of differentials of geometric quantities assigned to the elements of a manifold triangulation. We use geometric torsions to construct invariants for a…

As one of the basic while vital technologies for HD map construction, 3D lane detection is still an open problem due to varying visual conditions, complex typologies, and strict demands for precision. In this paper, an end-to-end flexible…

Outlier recognition is a fundamental problem in data analysis and has attracted a great deal of attention in the past decades. However, most existing methods still suffer from several issues such as high time and space complexities or…

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 many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and…

It is well known that a rigid motion of the Euclidean plane can be written as the composition of at most three reflections. It is perhaps not so widely known that a similar result holds for Euclidean space in any number of dimensions. The…

To what extent are two images picturing the same 3D surfaces? Even when this is a known scene, the answer typically requires an expensive search across scale space, with matching and geometric verification of large sets of local features.…

Existing detection methods commonly use a parameterized bounding box (BBox) to model and detect (horizontal) objects and an additional rotation angle parameter is used for rotated objects. We argue that such a mechanism has fundamental…