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Classical visual simultaneous localization and mapping (SLAM) algorithms usually assume the environment to be rigid. This assumption limits the applicability of those algorithms as they are unable to accurately estimate the camera poses and…
Phase plotting is a useful way of visualising functions on complex space. We reinvent the method in the context of hyperbolic geometry, and we use it to plot functions on various representative surfaces for hyperbolic space, illustrating…
Synthesizing natural human motion that adapts to complex environments while allowing creative control remains a fundamental challenge in motion synthesis. Existing models often fall short, either by assuming flat terrain or lacking the…
Interactive high-performance computing is doubtlessly beneficial for many computational science and engineering applications whenever simulation results should be visually processed in real time, i.e. during the computation process.…
We present a new approach to super-resolution optical imaging, based on structured illumination in hyperbolic media. The proposed system allows for planar geometry, has unlimited field of view, and is robust with respect to optical noise…
In this paper, we present a tightly-coupled visual-inertial object-level multi-instance dynamic SLAM system. Even in extremely dynamic scenes, it can robustly optimise for the camera pose, velocity, IMU biases and build a dense 3D…
We present a novel approach for real-time joint reconstruction of 3D scene motion and geometry from binocular stereo videos. Our approach is based on a novel variational halfway-domain scene flow formulation, which allows us to obtain…
The paper deals with motion planning for a spin-rolling sphere when the sphere follows a straight path on a plane. Since the motion of the sphere is constrained by the straight line, the control of the sphere's spin motion is essential to…
Automatic segmentation of objects from a single image is a challenging problem which generally requires training on large number of images. We consider the problem of automatically segmenting only the dynamic objects from a given pair of…
Recent advances in imitation learning have enabled robots to perform increasingly complex manipulation tasks in unstructured environments. However, most learned policies rely on discrete action chunking, which introduces discontinuities at…
This paper presents a shape-theoretic framework for dynamical analysis of nonlinear dynamical systems which appear frequently in several video-based inference tasks. Traditional approaches to dynamical modeling have included linear and…
In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…
We provide a framework for the design and analysis of dynamic programming algorithms for surface-embedded graphs on n vertices and branchwidth at most k. Our technique applies to general families of problems where standard dynamic…
Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…
We present a novel reduced-order fluid simulation technique leveraging Dynamic Mode Decomposition (DMD) to achieve fast, memory-efficient, and user-controllable subspace simulation. We demonstrate that our approach combines the strengths of…
A novel method - the Virtual Ring Shear-Slip Mesh Update Method (VR-SSMUM) - for the efficient and accurate modeling of moving boundary or interface problems in the context of the numerical analysis of fluid flow is presented. We focus on…
Panoramic video generation aims to synthesize 360-degree immersive videos, holding significant importance in the fields of VR, world models, and spatial intelligence. Existing works fail to synthesize high-quality panoramic videos due to…
Videos are a popular media form, where online video streaming has recently gathered much popularity. In this work, we propose a novel method of real-time video stabilization - transforming a shaky video to a stabilized video as if it were…
A technique for accelerating global convergence of pseudo-transient continuation Newton methods is proposed based on residual smoothing. The technique is motivated by the effectiveness of local nonlinear smoothers at overcoming strong…
This paper proposes a novel approach to create an automated visual surveillance system which is very efficient in detecting and tracking moving objects in a video captured by moving camera without any apriori information about the captured…