Related papers: Terrain visibility with multiple viewpoints
Detecting objects and estimating their viewpoints in images are key tasks of 3D scene understanding. Recent approaches have achieved excellent results on very large benchmarks for object detection and viewpoint estimation. However,…
A matroid is a machine capturing linearity of mathematical objects and producing combinatorial structures. Matroid structure arises everywhere since linearity is a ubiquitous concept. One natural way to obtain matroids is by considering…
Convolutions on monocular dash cam videos capture spatial invariances in the image plane but do not explicitly reason about distances and depth. We propose a simple transformation of observations into a bird's eye view, also known as plan…
Estimating positions of world points from features observed in images is a key problem in 3D reconstruction, image mosaicking,simultaneous localization and mapping and structure from motion. We consider a special instance in which there is…
An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…
Tunnel construction using the drill-and-blast method requires the 3D measurement of the excavation front to evaluate underbreak locations. Considering the inspection and measurement task's safety, cost, and efficiency, deploying lightweight…
Let $G=(V,E)$ be a graph and $P\subseteq V$ a set of points. Two points are mutually visible if there is a shortest path between them without further points. $P$ is a mutual-visibility set if its points are pairwise mutually visible. The…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
The ability to capture rich representations of combinatorial structures has enabled the application of machine learning to tasks such as analysis and generation of floorplans, terrains, images, and animations. Recent work has primarily…
Single-view place recognition, that we can define as finding an image that corresponds to the same place as a given query image, is a key capability for autonomous navigation and mapping. Although there has been a considerable amount of…
We set out an elementary approach to derive Visible Point Identities summed on lattice points of inverted triangle (2D), pyramid (3D), hyperpyramid (4D, 5D and so on) utilizing the greatest common divisor for the nD Visible Point Vectors.…
This paper proposes a method for computing the visible occluding contours of subdivision surfaces. The paper first introduces new theory for contour visibility of smooth surfaces. Necessary and sufficient conditions are introduced for when…
On-board sensors of autonomous vehicles can be obstructed, occluded, or limited by restricted fields of view, complicating downstream driving decisions. Intelligent roadside infrastructure perception systems, installed at elevated vantage…
In multiview geometry when correspondences among multiple views are unknown the image points can be understood as being unlabeled. This is a common problem in computer vision. We give a novel approach to handle such a situation by regarding…
In this work, we introduce the problem of scenic routes among points in Rd. The key development is the nature of the problem in terms of both defining the concept of scenic points and scenic routes and then coming up with algorithms that…
3D visual perception tasks based on multi-camera images are essential for autonomous driving systems. Latest work in this field performs 3D object detection by leveraging multi-view images as an input and iteratively enhancing object…
Structured light illumination is an active 3-D scanning technique based on projecting/capturing a set of striped patterns and measuring the warping of the patterns as they reflect off a target object's surface. As designed, each pixel in…
We propose a method for predicting the 3D shape of a deformable surface from a single view. By contrast with previous approaches, we do not need a pre-registered template of the surface, and our method is robust to the lack of texture and…
Recent advances in large-scale pretraining have yielded visual foundation models with strong capabilities. Not only can recent models generalize to arbitrary images for their training task, their intermediate representations are useful for…
Multi-view projection methods have demonstrated their ability to reach state-of-the-art performance on 3D shape recognition. Those methods learn different ways to aggregate information from multiple views. However, the camera view-points…