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Point cloud registration based on correspondences computes the rigid transformation that maximizes the number of inliers constrained within the noise threshold. Current state-of-the-art (SOTA) methods employing spatial compatibility graphs…
Let $s$ be a point in a polygonal domain $\mathcal{P}$ of $h-1$ holes and $n$ vertices. We consider a quickest visibility query problem. Given a query point $q$ in $\mathcal{P}$, the goal is to find a shortest path in $\mathcal{P}$ to move…
In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…
As the structural databases continue to expand, efficient methods are required to search similar structures of the query structure from the database. There are many previous works about comparing protein 3D structures and scanning the…
Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…
In the point set embeddability problem, we are given a plane graph $G$ with $n$ vertices and a point set $S$ with $n$ points. Now the goal is to answer the question whether there exists a straight-line drawing of $G$ such that each vertex…
An orthogonal drawing is an embedding of a plane graph into a grid. In a seminal work of Tamassia (SIAM Journal on Computing 1987), a simple combinatorial characterization of angle assignments that can be realized as bend-free orthogonal…
3D object detection is one of the most important tasks in 3D vision perceptual system of autonomous vehicles. In this paper, we propose a novel two stage 3D object detection method aimed at get the optimal solution of object location in 3D…
In this paper, we propose new techniques for solving geometric optimization problems involving interpoint distances of a point set in the plane. Given a set $P$ of $n$ points in the plane and an integer $1 \leq k \leq \binom{n}{2}$, the…
A novel solution is obtained to solve the rigid 3D registration problem, motivated by previous eigen-decomposition approaches. Different from existing solvers, the proposed algorithm does not require sophisticated matrix operations e.g.…
Existing learning methods for LiDAR-based applications use 3D points scanned under a pre-determined beam configuration, e.g., the elevation angles of beams are often evenly distributed. Those fixed configurations are task-agnostic, so…
Piecewise linearization is a key technique for solving nonlinear problems in transportation network design and other optimization fields, in which generating breakpoints is a fundamental task. This paper proposes an optimal breakpoint…
We tackle data-driven 3D point cloud registration. Given point correspondences, the standard Kabsch algorithm provides an optimal rotation estimate. This allows to train registration models in an end-to-end manner by differentiating the SVD…
This paper analyzes the robustness of recent 3D shape descriptors to SO(3) rotations, something that is fundamental to shape modeling. Specifically, we formulate the task of rotated 3D object instance detection. To do so, we consider a…
We develop a novel deep learning technique, termed Deep Orthogonal Decomposition (DOD), for dimensionality reduction and reduced order modeling of parameter dependent partial differential equations. The approach consists in the construction…
Double machine learning provides $\sqrt{n}$-consistent estimates of parameters of interest even when high-dimensional or nonparametric nuisance parameters are estimated at an $n^{-1/4}$ rate. The key is to employ Neyman-orthogonal moment…
We consider the dynamic range minimum problem on the ultra-wide word RAM model of computation. This model extends the classic $w$-bit word RAM model with special ultrawords of length $w^2$ bits that support standard arithmetic and boolean…
We present a new data structure for the c-approximate near neighbor problem (ANN) in the Euclidean space. For n points in R^d, our algorithm achieves O(n^{\rho} + d log n) query time and O(n^{1 + \rho} + d log n) space, where \rho <=…
This paper presents fast, distributed, $O(1)$-approximation algorithms for metric facility location problems with outliers in the Congested Clique model, Massively Parallel Computation (MPC) model, and in the $k$-machine model. The paper…
2D object proposals, quickly detected regions in an image that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection in color images. In this work, we…