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The need for fast sparse optimization is emerging, e.g., to deal with large-dimensional data-driven problems and to track time-varying systems. In the framework of linear sparse optimization, the iterative shrinkage-thresholding algorithm…
It is common to encounter situations where one must solve a sequence of similar computational problems. Running a standard algorithm with worst-case runtime guarantees on each instance will fail to take advantage of valuable structure…
In this paper we introduce EfficientPose, a new approach for 6D object pose estimation. Our method is highly accurate, efficient and scalable over a wide range of computational resources. Moreover, it can detect the 2D bounding box of…
We present a faster direct sampling algorithm for random equilateral closed polygons in three-dimensional space. This method improves on the moment polytope sampling algorithm of Cantarella, Duplantier, Shonkwiler, and Uehara (2016) and has…
The problem of fitting concentric ellipses is a vital problem in image processing, pattern recognition, and astronomy. Several methods have been developed but all address very special cases. In this paper, this problem has been investigated…
We present a provable, sampling-based approach for generating compact Convolutional Neural Networks (CNNs) by identifying and removing redundant filters from an over-parameterized network. Our algorithm uses a small batch of input data…
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…
Absolute pose estimation is a fundamental problem in computer vision, and it is a typical parameter estimation problem, meaning that efforts to solve it will always suffer from outlier-contaminated data. Conventionally, for a fixed…
Recently there has been a lot of work on pruning filters from deep convolutional neural networks (CNNs) with the intention of reducing computations.The key idea is to rank the filters based on a certain criterion (say, l1-norm) and retain…
Collision-free motion planning in complex outdoor environments relies heavily on perceiving the surroundings through exteroceptive sensors. A widely used approach represents the environment as a voxelized Euclidean distance field, where…
A new predictor-corrector type incremental algorithm is proposed for the exact construction of weighted straight skeletons of 2D general planar polygons of arbitrary complexity based on the notion of deforming polygon. In the proposed…
Recently there has been a lot of work on pruning filters from deep convolutional neural networks (CNNs) with the intention of reducing computations. The key idea is to rank the filters based on a certain criterion (say, $l_1$-norm, average…
We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…
Object shape and pose estimation is a foundational robotics problem, supporting tasks from manipulation to scene understanding and navigation. We present a fast local solver for shape and pose estimation which requires only category-level…
Efficient and safe retrieval of stacked objects in warehouse environments is a significant challenge due to complex spatial dependencies and structural inter-dependencies. Traditional vision-based methods excel at object localization but…
We show that galaxy ellipticity estimation for weak gravitational lensing with unweighted image moments reduces to the problem of measuring a combination of the means of three independent normal random variables. Under very general…
This work is about ME, the Method of Ellipcenters. ME was recently introduced by these very authors as a first order accelerated scheme for unconstrained minimization. Its iterates are all centers of ellipses carefully designed to somehow…
This paper presents a method to estimate the 3D object position and occupancy given a set of object detections in multiple images and calibrated cameras. This problem is modelled as the estimation of a set of quadrics given 2D conics fit to…
Staircases are some of the most common building structures in urban environments. Stair detection is an important task for various applications, including the environmental perception of exoskeleton robots, humanoid robots, and rescue…
Edges are a basic and fundamental feature in image processing, that are used directly or indirectly in huge amount of applications. Inspired by the expansion of image resolution and processing power dilated convolution techniques appeared.…