Related papers: Probably Approximately Symmetric: Fast rigid Symme…
We study the problem of sampling weighted partial triangulations of a convex polygon. We consider the distribution where each partial triangulation $\sigma$ is chosen with probability proportional to $\lambda^{|\sigma|}$, where $\lambda>0$…
Collision detection is a core component of robotics applications such as simulation, control, and planning. Traditional algorithms like GJK+EPA compute witness points (i.e., the closest or deepest-penetration pairs between two objects) but…
Complex phenomena in engineering and the sciences are often modeled with computationally intensive feed-forward simulations for which a tractable analytic likelihood does not exist. In these cases, it is sometimes necessary to estimate an…
Polytopes are the basic finite data structures for convex sets: they appear as feasible regions in linear optimization, as geometric summaries in algorithms, and as random objects in stochastic geometry. A natural geometric question is…
Intrinsic isometric shape matching has become the standard approach for pose invariant correspondence estimation among deformable shapes. Most existing approaches assume global consistency, i.e., the metric structure of the whole manifold…
In this paper we analyze several new methods for solving nonconvex optimization problems with the objective function formed as a sum of two terms: one is nonconvex and smooth, and another is convex but simple and its structure is known.…
We consider the offset-deconstruction problem: Given a polygonal shape Q with n vertices, can it be expressed, up to a tolerance \eps in Hausdorff distance, as the Minkowski sum of another polygonal shape P with a disk of fixed radius? If…
In this paper we propose and study a new complexity model for approximation algorithms. The main motivation are practical problems over large data sets that need to be solved many times for different scenarios, e.g., many multicast trees…
In this work we propose algorithms to explicitly construct a conservative estimate of the configuration spaces of rigid objects in 2D and 3D. Our approach is able to detect compact path components and narrow passages in configuration space…
This work introduces a complexity measure which addresses some conflicting issues between existing ones by using a new principle - measuring the average amount of symmetry broken by an object. It attributes low (although different)…
Regular object detection methods output rectangle bounding boxes, which are unable to accurately describe the actual object shapes. Instance segmentation methods output pixel-level labels, which are computationally expensive for real-time…
In this paper, a computation efficient regression framework is presented for estimating the 6D pose of rigid objects from a single RGB-D image, which is applicable to handling symmetric objects. This framework is designed in a simple…
Symmetric objects are common in daily life and industry, yet their inherent orientation ambiguities that impede the training of deep learning networks for pose estimation are rarely discussed in the literature. To cope with these…
Many applications of computer vision rely on the alignment of similar but non-identical images. We present a fast algorithm for aligning heterogeneous images based on optimal transport. Our approach combines the speed of fast Fourier…
It is at times important to detect human presence automatically in secure environments. This needs a shape recognition algorithm that is robust, fast and has low error rates. The algorithm needs to process camera images quickly to detect…
We propose a new method for shape recognition and retrieval based on dynamic programming. Our approach uses the dynamic programming algorithm to compute the optimal score and to find the optimal alignment between two strings. First, each…
We address the problem of verifying neural networks against geometric transformations of the input image, including rotation, scaling, shearing, and translation. The proposed method computes provably sound piecewise linear constraints for…
Detection of circular objects in digital images is an important problem in several vision applications. Circle detection using randomized sampling has been developed in recent years to reduce the computational intensity. Randomized…
We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing…
In this paper we propose an approach for computing multiple high-quality near-isometric dense correspondences between a pair of 3D shapes. Our method is fully automatic and does not rely on user-provided landmarks or descriptors. This…