Related papers: External Memory Planar Point Location with Fast Up…
We propose faster algorithms for the following three optimization problems on $n$ collinear points, i.e., points in dimension one. The first two problems are known to be NP-hard in higher dimensions. 1- Maximizing total area of disjoint…
Pose variation is one of the key challenges in face recognition. Conventional techniques mainly focus on face frontalization or face augmentation in image space. However, transforming face images in image space is not guaranteed to preserve…
Traditional databases commonly support efficient query and update procedures that operate in time which is sublinear in the size of the database. Our goal in this paper is to take a first step toward dynamic reasoning in probabilistic…
Hash tables are one of the most fundamental data structures in computer science, in both theory and practice. They are especially useful in external memory, where their query performance approaches the ideal cost of just one disk access.…
Approximate nearest neighbor (ANN) search on SSD-backed indexes is increasingly I/O-bound (I/O accounts for 70--90\% of query latency). We present an I/O-first framework for disk-based ANN that organizes techniques along three dimensions:…
Autonomous Valet Parking (AVP) requires planning under partial observability, where parking spot availability evolves as dynamic agents enter and exit spots. Existing approaches either rely only on instantaneous spot availability or make…
We describe fully retroactive dynamic data structures for approximate range reporting and approximate nearest neighbor reporting. We show how to maintain, for any positive constant $d$, a set of $n$ points in $\R^d$ indexed by time such…
We present a fully dynamic data structure for the maintenance of lower envelopes of pseudo-lines. The structure has $O(\log^2 n)$ update time and $O(\log n)$ vertical ray shooting query time. To achieve this performance, we devise a new…
This work investigates the problem of instance-level image retrieval re-ranking with the constraint of memory efficiency, ultimately aiming to limit memory usage to 1KB per image. Departing from the prevalent focus on performance…
This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as…
Manual annotation of volumetric medical images, such as magnetic resonance imaging (MRI) and computed tomography (CT), is a labor-intensive and time-consuming process. Recent advancements in foundation models for video object segmentation,…
Point cloud segmentation (PCS) aims to separate points into different and meaningful groups. The task plays an important role in robotics because PCS enables robots to understand their physical environments directly. To process sparse and…
We present a new distance oracle in the fully dynamic setting: given a weighted undirected graph $G=(V,E)$ with $n$ vertices undergoing both edge insertions and deletions, and an arbitrary parameter $\epsilon$ where $\epsilon\in[1/\log^{c}…
In this paper, we propose an optimization based SLAM approach to simultaneously optimize the robot trajectory and the occupancy map using 2D laser scans (and odometry) information. The key novelty is that the robot poses and the occupancy…
We present a major revamp of the point-location data structure for general two-dimensional subdivisions via randomized incremental construction, implemented in CGAL, the Computational Geometry Algorithms Library. We can now guarantee that…
Processing spatial data is a key component in many learning tasks for autonomous driving such as motion forecasting, multi-agent simulation, and planning. Prior works have demonstrated the value in using SE(2) invariant network…
This paper explores the notion of approximate data structures, which return approximately correct answers to queries, but run faster than their exact counterparts. The paper describes approximate variants of the van Emde Boas data…
Maintaining maximal independent set in dynamic graph is a fundamental open problem in graph theory and the first sublinear time deterministic algorithm was came up by Assadi, Onak, Schieber and Solomon(STOC'18), which achieves $O(m^{3/4})$…
This paper proposes a pose-graph attentional graph neural network, called P-GAT, which compares (key)nodes between sequential and non-sequential sub-graphs for place recognition tasks as opposed to a common frame-to-frame retrieval problem…
In recent years the Cache-Oblivious model of external memory computation has provided an attractive theoretical basis for the analysis of algorithms on massive datasets. Much progress has been made in discovering algorithms that are…