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Instance Search (INS) is a fundamental problem for many applications, while it is more challenging comparing to traditional image search since the relevancy is defined at the instance level. Existing works have demonstrated the success of…
We present a novel ray acceleration structure for radiative transfer outside of local thermodynamic equilibrium (non-LTE), leveraging techniques from computer graphics to improve computational efficiency. By applying mipmapping (local…
Heuristic search algorithms, e.g. A*, are the commonly used tools for pathfinding on grids, i.e. graphs of regular structure that are widely employed to represent environments in robotics, video games etc. Instance-independent heuristics…
3D object detection in point clouds is a challenging vision task that benefits various applications for understanding the 3D visual world. Lots of recent research focuses on how to exploit end-to-end trainable Hough voting for generating…
Sampling-based path planning algorithms suffer from heavy reliance on uniform sampling, which accounts for unreliable and time-consuming performance, especially in complex environments. Recently, neural-network-driven methods predict…
Efficient memory access patterns play a crucial role in determining the overall performance of applications by exploiting temporal and spatial locality, thus maximizing cache locality. The Reuse Distance Histogram (RDH) is a widely used…
Data-intensive scientific and commercial applications increasingly require frequent movement of large datasets from one site to the other(s). Despite growing network capacities, these data movements rarely achieve the promised data transfer…
Rapid sampling from the environment to acquire available frontier points and timely incorporating them into subsequent planning to reduce fragmented regions are critical to improve the efficiency of autonomous exploration. We propose HPHS,…
Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to…
Visual scanpath is the sequence of fixation points that the human gaze travels while observing an image, and its prediction helps in modeling the visual attention of an image. To this end several models were proposed in the literature using…
Rapidly-exploring Random Tree Star(RRT*) is a recently proposed extension of Rapidly-exploring Random Tree (RRT) algorithm that provides a collision-free, asymptotically optimal path regardless of obstacle's geometry in a given environment.…
We present several modifications to the previously proposed MSPP algorithm that can speed-up its execution considerably. The MSPP algorithm leverages a multiscale representation of the environment in $n$ dimensions. The information of the…
We propose a new algorithm for numerical path tracking in polynomial homotopy continuation. The algorithm is `robust' in the sense that it is designed to prevent path jumping and in many cases, it can be used in (only) double precision…
Structural pruning can simplify network architecture and improve inference speed. We propose Hardware-Aware Latency Pruning (HALP) that formulates structural pruning as a global resource allocation optimization problem, aiming at maximizing…
Analyzing and identifying the shortcomings of current subdivision methods for finding intersections of rays with fibers defined by the surface of a circular contour swept along a B\'ezier curve, we present a new algorithm that improves…
The ray-tracing is often employed in urban areas for channel modeling with high accuracy but encounters a substantial computational complexity for high mobility scenarios. In this paper, we propose a novel pre-processing method for dynamic…
Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously collect observational data required to complete their survey…
In this paper, we present an iterative method to quickly traverse multi-dimensional paths considering jerk constraints. As a first step, we analyze the traversal of each individual path dimension. We derive a range of feasible target…
Generating overtaking trajectories in high-speed scenarios is typically addressed through hierarchical planning, which often suffers from local optima due to single initial solutions and low computational efficiency during numerical…
This paper proposes a simple yet highly accurate prediction-correction algorithm, SHARP, for unconstrained time-varying optimization problems. Its prediction is based on an extrapolation derived from the Lagrange interpolation of past…