Related papers: Terrain visibility with multiple viewpoints
Computational surface modeling that underlies material recognition has transitioned from reflectance modeling using in-lab controlled radiometric measurements to image-based representations based on internet-mined single-view images…
A challenge still to be overcome in the field of visual perception for vehicle and robotic navigation on heavily damaged and unpaved roads is the task of reliable path and obstacle detection. The vast majority of the researches have as…
In this paper, we analyze the viewpoint stability of foundational models - specifically, their sensitivity to changes in viewpoint- and define instability as significant feature variations resulting from minor changes in viewing angle,…
The space-like hypersurface of the Universe at the present cosmological time is a three-dimensional manifold. A non-trivial global topology of this space-like hypersurface would imply that the apparently observable universe (the sphere of…
Visual place recognition (VPR) - the act of recognizing a familiar visual place - becomes difficult when there is extreme environmental appearance change or viewpoint change. Particularly challenging is the scenario where both phenomena…
We study the problem of recovering a planted hierarchy of partitions in a network. The detectability of a single planted partition has previously been analysed in detail and a phase transition has been identified below which the partition…
Visual Place Recognition (VPR) is the process of recognising a previously visited place using visual information, often under varying appearance conditions and viewpoint changes and with computational constraints. VPR is related to the…
A rectangle visibility representation (RVR) of a graph consists of an assignment of axis-aligned rectangles to vertices such that for every edge there exists a horizontal or vertical line of sight between the rectangles assigned to its…
The input data features set for many data driven tasks is high-dimensional while the intrinsic dimension of the data is low. Data analysis methods aim to uncover the underlying low dimensional structure imposed by the low dimensional hidden…
The efficient computation of viewpoints under consideration of various system and process constraints is a common challenge that any robot vision system is confronted with when trying to execute a vision task. Although fundamental research…
Can VLMs predict how each camera move changes the view, and plan many such moves ahead? We call this capability view planning, requiring (1)understanding how a single action transforms the view, and (2)composing many such transformations…
This paper studies visibility problems in Euclidean spaces $\mathbb{R}^d$ where the obstacles are the points of infinite discrete sets $Y\subseteq\mathbb{R}^d$. A point $x\in\mathbb{R}^d$ is called $\varepsilon$-visible for $Y$ (notation:…
Effective use of camera-based vision systems is essential for robust performance in autonomous off-road driving, particularly in the high-speed regime. Despite success in structured, on-road settings, current end-to-end approaches for scene…
Given a simple polygon $\mathcal{P}$ on $n$ vertices, two points $x,y$ in $\mathcal{P}$ are said to be visible to each other if the line segment between $x$ and $y$ is contained in $\mathcal{P}$. The Point Guard Art Gallery problem asks for…
We discuss a method of finding skyline or non-dominated sites in a set $P$ of $n$ point sites with respect to a set $S$ of $m$ points. A site $p \in P$ is non-dominated if and only if for each $q \in P \setminus \{p\}$, there exists at…
We study the image-based geolocalization problem, aiming to localize ground-view query images on cartographic maps. Current methods often utilize cross-view localization techniques to match ground-view query images with 2D maps. However,…
Treemaps are a popular technique to visualize hierarchical data. The input is a weighted tree $\tree$ where the weight of each node is the sum of the weights of its children. A treemap for $\tree$ is a hierarchical partition of a rectangle…
A graph with vertex set $\{1,\ldots,n\}$ is terrain-like if, for any edge pair $\{a,c\},\{b,d\}$ with $a<b<c<d$, the edge $\{a,d\}$ also exists. Terrain-like graphs frequently appear in geometry in the context of visibility graphs. We show…
Spatial consistency is a fundamental property of the visual world and a key requirement for models that aim to understand physical reality. Despite recent advances, multimodal large language models (MLLMs) often struggle to reason about 3D…
We investigate the combinatorial complexity of geodesic Voronoi diagrams on polyhedral terrains using a probabilistic analysis. Aronov etal [ABT08] prove that, if one makes certain realistic input assumptions on the terrain, this complexity…