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State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…
The rate of convergence of weighted kernel herding (WKH) and sequential Bayesian quadrature (SBQ), two kernel-based sampling algorithms for estimating integrals with respect to some target probability measure, is investigated. Under…
PointNet, which is the widely used point-wise embedding method and known as a universal approximator for continuous set functions, can process one million points per second. Nevertheless, real-time inference for the recent development of…
Let $X$ be a set of points in $\mathbb{R}^2$ and $\mathcal{O}$ be a set of geometric objects in $\mathbb{R}^2$, where $|X| + |\mathcal{O}| = n$. We study the problem of computing a minimum subset $\mathcal{O}^* \subseteq \mathcal{O}$ that…
The convex hull describes the extent or shape of a set of data and is used ubiquitously in computational geometry. Common algorithms to construct the convex hull on a finite set of n points (x,y) range from O(nlogn) time to O(n) time.…
We present a robust and fast algorithm for performing astrometry and source cross-identification on two dimensional point lists, such as between a catalogue and an astronomical image, or between two images. The method is based on minimal…
We introduce space-efficient plane-sweep algorithms for basic planar geometric problems. It is assumed that the input is in a read-only array of $n$ items and that the available workspace is $\Theta(s)$ bits, where $\lg n \leq s \leq n…
Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…
This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…
We describe an algorithm that takes as input n points in the plane and a parameter {\epsilon}, and produces as output an embedded planar graph having the given points as a subset of its vertices in which the graph distances are a (1 +…
In this paper, we introduce a novel single shot approach for 6D object pose estimation of rigid objects based on depth images. For this purpose, a fully convolutional neural network is employed, where the 3D input data is spatially…
The goal of point set registration is to find point-by-point correspondences between point sets, each of which characterizes the shape of an object. Because local preservation of object geometry is assumed, prevalent algorithms in the area…
Stochastic optimization is key to efficient inversion in PDE-constrained optimization. Using 'simultaneous shots', or random superposition of source terms, works very well in simple acquisition geometries where all sources see all…
The Fr\'echet distance is a popular similarity measure that is well-understood for polygonal curves in $\mathbb{R}^d$: near-quadratic time algorithms exist, and conditional lower bounds suggest that these results cannot be improved…
We discuss in some details a novel algorithm for performing partial-sky spherical harmonic transforms (SHT), building on the Fourier-sphere method of Reinecke et al (2023) handling efficiently high numbers of arbitrary locations on the…
The aim of this paper is twofold: In the first part, we leverage recent results on scenario design to develop randomized algorithmsfor approximating the image set of a nonlinear mapping, that is, a (possibly noisy) mapping of a set via a…
Geometric matching is an important topic in computational geometry and has been extensively studied over decades. In this paper, we study a geometric-matching problem, known as geometric many-to-many matching. In this problem, the input is…
Recovering 3D human mesh from monocular images is a popular topic in computer vision and has a wide range of applications. This paper aims to estimate 3D mesh of multiple body parts (e.g., body, hands) with large-scale differences from a…
Traditionally, pose estimation is considered as a two step problem. First, feature correspondences are determined by direct comparison of image patches, or by associating feature descriptors. In a second step, the relative pose and the…
Non-linear least squares solvers are used across a broad range of offline and real-time model fitting problems. Most improvements of the basic Gauss-Newton algorithm tackle convergence guarantees or leverage the sparsity of the underlying…