Related papers: Terrain visibility with multiple viewpoints
3D object detection from monocular image(s) is a challenging and long-standing problem of computer vision. To combine information from different perspectives without troublesome 2D instance tracking, recent methods tend to aggregate…
Change in viewpoint is one of the major factors for variation in object appearance across different images. Thus, view-invariant object recognition is a challenging and important image understanding task. In this paper, we propose a method…
The field of autonomous navigation for unmanned ground vehicles (UGVs) is in continuous growth and increasing levels of autonomy have been reached in the last few years. However, the task becomes more challenging when the focus is on the…
We study the natural gradient method for learning in deep Bayesian networks, including neural networks. There are two natural geometries associated with such learning systems consisting of visible and hidden units. One geometry is related…
3D object detection from visual sensors is a cornerstone capability of robotic systems. State-of-the-art methods focus on reasoning and decoding object bounding boxes from multi-view camera input. In this work we gain intuition from the…
This paper surveys visualization and interaction techniques for geospatial networks from a total of 95 papers. Geospatial networks are graphs where nodes and links can be associated with geographic locations. Examples can include social…
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…
A point visibility graph is a graph induced by a set of points in the plane where the vertices of the graph represent the points in the point set and two vertices are adjacent if and only if no other point from the point set lies on the…
Terrains are visually important and commonly used in computer graphics. While many algorithms for their generation exist, it is difficult to assess the realism of a generated terrain. This paper presents a first step in the direction of…
We consider several problems that involve lines in three dimensions, and present improved algorithms for solving them. The problems include (i) ray shooting amid triangles in $R^3$, (ii) reporting intersections between query lines…
In automated driving, highly accurate maps are commonly used to support and complement perception. These maps are costly to create and quickly become outdated as the traffic world is permanently changing. In order to support or replace the…
Let $P$ be a simple polygon with $n$ vertices, and let $A$ be a set of $m$ points or line segments inside $P$. We develop data structures that can efficiently count the number of objects from $A$ that are visible to a query point or a query…
Consider two entities with constant but not necessarily equal velocities, moving on two given piece-wise linear trajectories inside a simple polygon $P$. The Trajectory Range Visibility problem deals with determining the sub-trajectories on…
This paper addresses the problem of viewpoint estimation of an object in a given image. It presents five key insights that should be taken into consideration when designing a CNN that solves the problem. Based on these insights, the paper…
Mutual-visibility sets were motivated by visibility in distributed systems and social networks, and intertwine with several classical mathematical areas. Monotone properties of the variety of mutual-visibility sets, and restrictions of such…
Visual Place Recognition (VPR) is often characterized as being able to recognize the same place despite significant changes in appearance and viewpoint. VPR is a key component of Spatial Artificial Intelligence, enabling robotic platforms…
The Searchlight Scheduling Problem was first studied in 2D polygons, where the goal is for point guards in fixed positions to rotate searchlights to catch an evasive intruder. Here the problem is extended to 3D polyhedra, with the guards…
Self-supervised detection and segmentation of foreground objects aims for accuracy without annotated training data. However, existing approaches predominantly rely on restrictive assumptions on appearance and motion. For scenes with dynamic…
This paper introduces a visibility relation $v$ (and the strong visibility relation $\mathop{v}\limits^{\doublewedge}$) on proximal Delaunay meshes. A main result in this paper is that the visibility relation $v$ is equivalent to Wallman…
Vision-based prediction algorithms have a wide range of applications including autonomous driving, surveillance, human-robot interaction, weather prediction. The objective of this paper is to provide an overview of the field in the past…