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The effectiveness of rock support in underground mines depends on the interaction between installed rock bolts and the structural fabric of the surrounding rock mass. However, discontinuity characterisation and rock bolt identification are…
We present here, a novel network architecture called MergeNet for discovering small obstacles for on-road scenes in the context of autonomous driving. The basis of the architecture rests on the central consideration of training with less…
While 2D occupancy maps commonly used in mobile robotics enable safe navigation in indoor environments, in order for robots to understand and interact with their environment and its inhabitants representing 3D geometry and semantic…
We present a method for generating orthogonal quadrilateral meshes subject to user-defined feature alignment and sizing constraints. The approach relies on computing integrable orthogonal frame fields, whose symmetries are implicitly…
High-dimensional visual computer models are poised to revolutionize the space mission design process. The circular restricted three-body problem (CR3BP) gives rise to high-dimensional toroidal manifolds that are of immense interest to…
Reconstructing meshes from point clouds is a fundamental task in computer vision with applications spanning robotics, autonomous systems, and medical imaging. Selecting an appropriate learning-based method requires understanding trade-offs…
Using nonlinear projections and preserving structure in model order reduction (MOR) are currently active research fields. In this paper, we provide a novel differential geometric framework for model reduction on smooth manifolds, which…
Multi-task model merging aims to consolidate knowledge from multiple fine-tuned task-specific experts into a unified model while minimizing performance degradation. Existing methods primarily approach this by minimizing differences between…
Block copolymer (BCP) melt assembly has been the subject of decades of study, with focus largely on self-organized spatial patterns of periodically-ordered segment density. In this study, we demonstrate that underlying these otherwise…
This paper presents a spatial optimization methodology that extends the Spatial Packaging of Interconnected Systems with Physical Interaction (SPI2) framework to support arbitrary, non-convex design boundaries. We introduce a smooth,…
We propose a novel 3D shape correspondence method based on the iterative alignment of so-called smooth shells. Smooth shells define a series of coarse-to-fine shape approximations designed to work well with multiscale algorithms. The main…
3D printing of surfaces has become an established method for prototyping and visualisation. However, surfaces often contain certain degenerations, such as self-intersecting faces or non-manifold parts, which pose problems in obtaining a 3D…
A mechanical model and numerical method for the simultaneous analysis of Reissner-Mindlin shells with geometries implied by a continuous set of level sets (isosurfaces) over some three-dimensional bulk domain is presented. A…
We introduce a continuous global optimization method to the field of surface reconstruction from discrete noisy cloud of points with weak information on orientation. The proposed method uses an energy functional combining flux-based…
The detection of traversable regions on staircases and the physical modeling constitutes pivotal aspects of the mobility of legged robots. This paper presents an onboard framework tailored to the detection of traversable regions and the…
3D scene reconstruction from 2D images has been a long-standing task. Instead of estimating per-frame depth maps and fusing them in 3D, recent research leverages the neural implicit surface as a unified representation for 3D reconstruction.…
This paper introduces an abstract framework for randomized subspace correction methods for convex optimization, which unifies and generalizes a broad class of existing algorithms, including domain decomposition, multigrid, and block…
LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…
Monocular depth estimation plays a crucial role in 3D recognition and understanding. One key limitation of existing approaches lies in their lack of structural information exploitation, which leads to inaccurate spatial layout,…
Accurate surface geometry representation is crucial in 3D visual computing. Explicit representations, such as polygonal meshes, and implicit representations, like signed distance functions, each have distinct advantages, making efficient…