Related papers: The Normal Map Based on Area-Preserving Parameteri…
Local feature matching aims at establishing sparse correspondences between a pair of images. Recently, detector-free methods present generally better performance but are not satisfactory in image pairs with large scale differences. In this…
Texture is one of the most important properties of visual surface that helps in discriminating one object from another or an object from background. The self-organizing map (SOM) is an excellent tool in exploratory phase of data mining. It…
We introduce COPT, a novel distance metric between graphs defined via an optimization routine, computing a coordinated pair of optimal transport maps simultaneously. This gives an unsupervised way to learn general-purpose graph…
We consider the problem of classifying a map using a team of communicating robots. It is assumed that all robots have localized visual sensing capabilities and can exchange their information with neighboring robots. Using a graph…
Downsampling and path planning are essential in robotics and autonomous systems, as they enhance computational efficiency and enable effective navigation in complex environments. However, current downsampling methods often fail to preserve…
High-dimensional data, characterized by many features, can be difficult to visualize effectively. Dimensionality reduction techniques, such as PCA, UMAP, and t-SNE, address this challenge by projecting the data into a lower-dimensional…
Scalable and maintainable map representations are fundamental to enabling large-scale visual navigation and facilitating the deployment of robots in real-world environments. While collaborative localization across multi-session mapping…
For autonomous vehicles to operate persistently in a typical urban environment, it is essential to have high accuracy position information. This requires a mapping and localisation system that can adapt to changes over time. A localisation…
We present a stereo-based dense mapping algorithm for large-scale dynamic urban environments. In contrast to other existing methods, we simultaneously reconstruct the static background, the moving objects, and the potentially moving but…
Two types of probabilistic maps are popular in the mobile robotics literature: occupancy grids and geometric maps. Occupancy grids have the advantages of simplicity and speed, but they represent only a restricted class of maps and they make…
We present a neural framework for learning conditional optimal transport (OT) maps between probability distributions. Our approach introduces a conditioning mechanism capable of processing both categorical and continuous conditioning…
While High Definition (HD) Maps have long been favored for their precise depictions of static road elements, their accessibility constraints and susceptibility to rapid environmental changes impede the widespread deployment of autonomous…
Visualization of medical organs and biological structures is a challenging task because of their complex geometry and the resultant occlusions. Global spherical and planar mapping techniques simplify the complex geometry and resolve the…
Moving mesh methods are designed to redistribute a mesh in a regular way. This applied problem can be considered to overlap with the problem of finding a diffeomorphic mapping between density measures. In applications, an off-the-shelf grid…
We propose a method for efficiently computing orientation-preserving and approximately continuous correspondences between non-rigid shapes, using the functional maps framework. We first show how orientation preservation can be formulated…
Despite the obvious similarities between the metrics used in topological data analysis and those of optimal transport, an optimal-transport based formalism to study persistence diagrams and similar topological descriptors has yet to come.…
Recent advances in imaging technology now provide us with 3D images of developing organs. These can be used to extract 3D geometries for simulations of organ development. To solve models on growing domains, the displacement fields between…
We derive simplified normal forms for an area-preserving map in a neighbourhood of a degenerate resonant elliptic fixed point. Such fixed points appear in generic two-parameter families of area-preserving maps. We also derive a simplified…
This work is concerned with a representation of shapes that disentangles fine, local and possibly repeating geometry, from global, coarse structures. Achieving such disentanglement leads to two unrelated advantages: i) a significant…
Motion planning in modified environments is a challenging task, as it compounds the innate difficulty of the motion planning problem with a changing environment. This renders some algorithmic methods such as probabilistic roadmaps less…