Related papers: Fast and robust curve skeletonization for real-wor…

We propose a new algorithm for curve skeleton computation which differs from previous algorithms by being based on the notion of local separators. The main benefits of this approach are that it is able to capture relatively fine details and…

A method for detecting and approximating fault lines or surfaces, respectively, or decision curves in two and three dimensions with guaranteed accuracy is presented. Reformulated as a classification problem, our method starts from a set of…

An efficient algorithm is required to extract moving objects (asteroids, satellites, and space debris) from enormous data with advances in observational instruments. We have developed an algorithm, tracee, to swiftly detect points aligned…

In this paper we give a new, efficient algorithm for computing curve skeletons, based on local separators. Our efficiency stems from a multilevel approach, where we solve small problems across levels of detail and combine these in order to…

Dormant pruning for fresh market fruit trees is a relatively unexplored application of agricultural robotics for which few end-to-end systems exist. One of the biggest challenges in creating an autonomous pruning system is the need to…

Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…

Realtime shape estimation of continuum objects and manipulators is essential for developing accurate planning and control paradigms. The existing methods that create dense point clouds from camera images, and/or use distinguishable markers…

We present SurfCut, an algorithm for extracting a smooth, simple surface with an unknown 3D curve boundary from a noisy 3D image and a seed point. Our method is built on the novel observation that certain ridge curves of a function defined…

Thinning is the removal of contour pixels/points of connected components in an image to produce their skeleton with retained connectivity and structural properties. The output requirements of a thinning procedure often vary with…

Lifelong SLAM considers long-term operation of a robot where already mapped locations are revisited many times in changing environments. As a result, traditional graph-based SLAM approaches eventually become extremely slow due to the…

This paper focuses on the challenging problem of 3D pose estimation of a diverse spectrum of articulated objects from single depth images. A novel structured prediction approach is considered, where 3D poses are represented as skeletal…

This paper offers a new authentication algorithm based on image matching of nano-resolution visual identifiers with tree-shaped patterns. The algorithm includes image-to-tree conversion by greedy extraction of the fractal pattern skeleton…

Point clouds are a set of data points in space to represent the 3D geometry of objects. A fundamental step in the processing is to identify a subset of points to represent the shape. While traditional sampling methods often ignore to…

Object extraction from remote sensing images has long been an intensive research topic in the field of surveying and mapping. Most existing methods are devoted to handling just one type of object and little attention has been paid to…

This paper presents a real-time solution for collision detection between objects based on the physics properties. Traditional approaches on collision detection often rely on the geometric relationships that computing the intersections…

In this paper, we propose a learning-based approach to the task of automatically extracting a "wireframe" representation for images of cluttered man-made environments. The wireframe (see Fig. 1) contains all salient straight lines and their…

The skeleton of a digital image is a compact representation of its topology, geometry, and scale. It has utility in many computer vision applications, such as image description, segmentation, and registration. However, skeletonization has…

In sparse coding, we attempt to extract features of input vectors, assuming that the data is inherently structured as a sparse superposition of basic building blocks. Similarly, neural networks perform a given task by learning features of…

This paper presents a method to identify gravitational arcs or more generally elongated structures in a given image. The method is based on the computation of a local estimator of the elongation. The estimation of the local elongation…

We present a rectangle-based segmentation algorithm that sets up a graph and performs a graph cut to separate an object from the background. However, graph-based algorithms distribute the graph's nodes uniformly and equidistantly on the…