Related papers: Designing Sparse Reliable Pose-Graph SLAM: A Graph…
Blending representation learning approaches with simultaneous localization and mapping (SLAM) systems is an open question, because of their highly modular and complex nature. Functionally, SLAM is an operation that transforms raw sensor…
We consider the Backup Placement problem in networks in the $\mathcal{CONGEST}$ distributed setting. Given a network graph $G = (V,E)$, the goal of each vertex $v \in V$ is selecting a neighbor, such that the maximum number of vertices in…
Despite the growing interest for autonomous environmental monitoring, effective SLAM realization in native habitats remains largely unsolved. In this paper, we fill this gap by presenting a novel online graph-based SLAM system for 2D LiDAR…
A cut of a graph can be represented in many different ways. Here we propose to represent a cut through a ``relation tree'', which is a spanning tree with signed edges. We show that this picture helps to classify the main greedy heuristics…
Motivated by applications to sensor networks, as well as to many other areas, this paper studies the construction of minimum-degree spanning trees. We consider the classical node-register state model, with a weakly fair scheduler, and we…
Typical LiDAR SLAM architectures feature a front-end for odometry estimation and a back-end for refining and optimizing the trajectory and map, commonly through loop closures. However, loop closure detection in large-scale missions presents…
Decision trees are popular Classification and Regression tools and, when small-sized, easy to interpret. Traditionally, a greedy approach has been used to build the trees, yielding a very fast training process; however, controlling sparsity…
The (non-uniform) sparsest cut problem is the following graph-partitioning problem: given a "supply" graph, and demands on pairs of vertices, delete some subset of supply edges to minimize the ratio of the supply edges cut to the total…
Given a graph $G$, the NP-hard Maximum Planar Subgraph problem (MPS) asks for a planar subgraph of $G$ with the maximum number of edges. There are several heuristic, approximative, and exact algorithms to tackle the problem, but---to the…
The maximum independent set problem is a classic optimization problem that has also been studied quite intensively in the distributed setting. While the problem is hard to approximate in general, there are good approximation algorithms…
Graphs are ubiquitous real-world data structures, and generative models that approximate distributions over graphs and derive new samples from them have significant importance. Among the known challenges in graph generation tasks,…
We present SLAIM - Simultaneous Localization and Implicit Mapping. We propose a novel coarse-to-fine tracking model tailored for Neural Radiance Field SLAM (NeRF-SLAM) to achieve state-of-the-art tracking performance. Notably, existing…
Embedded deformation nodes based formulation has been widely applied in deformable geometry and graphical problems. Though being promising in stereo (or RGBD) sensor based SLAM applications, it remains challenging to keep constant speed in…
We give an efficient perfect sampling algorithm for weighted, connected induced subgraphs (or graphlets) of rooted, bounded degree graphs. Our algorithm utilizes a vertex-percolation process with a carefully chosen rejection filter and…
Given a graph G and the desired size k in bits, how can we summarize G within k bits, while minimizing the information loss? Large-scale graphs have become omnipresent, posing considerable computational challenges. Analyzing such large…
The main result of the paper is motivated by the following two, apparently unrelated graph optimization problems: (A) as an extension of Edmonds' disjoint branchings theorem, characterize digraphs comprising $k$ disjoint branchings $B_i$…
In many machine learning tasks, models are trained to predict structure data such as graphs. For example, in natural language processing, it is very common to parse texts into dependency trees or abstract meaning representation (AMR)…
Computing maximum weight independent sets in graphs is an important NP-hard optimization problem. The problem is particularly difficult to solve in large graphs for which data reduction techniques do not work well. To be more precise,…
In this paper, we present a semantic mapping approach with multiple hypothesis tracking for data association. As semantic information has the potential to overcome ambiguity in measurements and place recognition, it forms an eminent…
We investigate the computation of minimum-cost spanning trees satisfying prescribed vertex degree constraints: Given a graph $G$ and a constraint function $D$, we ask for a (minimum-cost) spanning tree $T$ such that for each vertex $v$, $T$…