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We develop a sketching algorithm to find the point on the convex hull of a dataset, closest to a query point outside it. Studying the convex hull of datasets can provide useful information about their geometric structure and their…
Greedy point insertion algorithms have emerged as an attractive tool for the solution of minimization problems over the space of Radon measures. Conceptually, these methods can be split into two phases: first, the computation of a new…
An algorithm to efficiently compute the moments of volumetric images is disclosed. The approach demonstrates a reduction in processing time by reducing the computational complexity significantly. Specifically, the algorithm reduces…
Objects in aerial images usually have arbitrary orientations and are densely located over the ground, making them extremely challenge to be detected. Many recently developed methods attempt to solve these issues by estimating an extra…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…
We address the problem of keypoint selection, and find that the performance of 6DoF pose estimation methods can be improved when pre-defined keypoint locations are learned, rather than being heuristically selected as has been the standard…
In this paper, we address the problem of building dense correspondences between human images under arbitrary camera viewpoints and body poses. Prior art either assumes small motion between frames or relies on local descriptors, which cannot…
Cross-view Geo-localisation is typically performed at a coarse granularity, because densely sampled satellite image patches overlap heavily. This heavy overlap would make disambiguating patches very challenging. However, by opting for…
A common approach to compute distances on continuous surfaces is by considering a discretized polygonal mesh approximating the surface and estimating distances on the polygon. We show that exact geodesic distances restricted to the polygon…
Pose-Graph optimization is a crucial component of many modern SLAM systems. Most prominent state of the art systems address this problem by iterative non-linear least squares. Both number of iterations and convergence basin of these…
The bilateral filter is a versatile non-linear filter that has found diverse applications in image processing, computer vision, computer graphics, and computational photography. A widely-used form of the filter is the Gaussian bilateral…
In this paper, we study the problem of computing the diameter of a set of $n$ points in $d$-dimensional Euclidean space for a fixed dimension $d$, and propose a new $(1+\varepsilon)$-approximation algorithm with $O(n+ 1/\varepsilon^{d-1})$…
This paper studies the problem of enumerating all maximal collinear subsets of size at least three in a given set of $n$ points. An algorithm for this problem, besides solving degeneracy testing and the exact fitting problem, can also help…
In this study, a geometric version of an NP-hard problem ("Almost $2-SAT$" problem) is introduced which has potential applications in clustering, separation axis, binary sensor networks, shape separation, image processing, etc. Furthermore,…
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…
This paper presents a novel masked attention-based 3D Gaussian Splatting (3DGS) approach to enhance robotic perception and object detection in industrial and smart factory environments. U2-Net is employed for background removal to isolate…
We present Generalized Histogram Thresholding (GHT), a simple, fast, and effective technique for histogram-based image thresholding. GHT works by performing approximate maximum a posteriori estimation of a mixture of Gaussians with…
The first part of this report describes the following result that, logarithmic approximation factor for hard capacitated set cover can be achieved from Wolsey's work [9], using a simpler and more intuitive analysis. We further show in our…
We study several natural instances of the geometric hitting set problem for input consisting of sets of line segments (and rays, lines) having a small number of distinct slopes. These problems model path monitoring (e.g., on road networks)…