Related papers: Computing skeletons for rectilinearly-convex obsta…
Many path planning algorithms are based on sampling the state space. While this approach is very simple, it can become costly when the obstacles are unknown, since samples hitting these obstacles are wasted. The goal of this paper is to…
We consider the problem of minimizing a convex function over the intersection of finitely many simple sets which are easy to project onto. This is an important problem arising in various domains such as machine learning. The main difficulty…
For tiny obstacle discovery in a monocular image, edge is a fundamental visual element. Nevertheless, because of various reasons, e.g., noise and similar color distribution with background, it is still difficult to detect the edges of tiny…
Given a set of pairwise disjoint polygonal obstacles in the plane, finding an obstacle-avoiding Euclidean shortest path between two points is a classical problem in computational geometry and has been studied extensively. The previous best…
Let $\mathscr O$ be a set of $n$ disjoint obstacles in $\mathbb{R}^2$, $\mathscr M$ be a moving object. Let $s$ and $l$ denote the starting point and maximum path length of the moving object $\mathscr M$, respectively. Given a point $p$ in…
Accurately segmenting thin tubular structures, such as vessels, nerves, roads or concrete cracks, is a crucial task in computer vision. Standard deep learning-based segmentation loss functions, such as Dice or Cross-Entropy, focus on…
Let $\mathcal{P}$ be a set of $h$ pairwise-disjoint polygonal obstacles with a total of $n$ vertices in the plane. We consider the problem of building a data structure that can quickly compute an $L_1$ shortest obstacle-avoiding path…
Object Skeletonization is the process of extracting skeletal, line-like representations of shapes. It provides a very useful tool for geometric shape understanding and minimal shape representation. It also has a wide variety of…
We study a path-planning problem amid a set $\mathcal{O}$ of obstacles in $\mathbb{R}^2$, in which we wish to compute a short path between two points while also maintaining a high clearance from $\mathcal{O}$; the clearance of a point is…
This paper presents a modeling and optimization framework to compute the minimum-lap-time spatial trajectory and powertrain operation of racing cars in a computationally efficient fashion. Specifically, we first derive a quasi-steady-state…
In this paper, a novel technique for tight outer-approximation of the intersection region of a finite number of ellipses in 2-dimensional (2D) space is proposed. First, the vertices of a tight polygon that contains the convex intersection…
We study the problem of partitioning a polygon into the minimum number of subpolygons using cuts in predetermined directions such that each resulting subpolygon satisfies a given width constraint. A polygon satisfies the unit-width…
In a rectilinear dual of a planar graph vertices are represented by simple rectilinear polygons and edges are represented by side-contact between the corresponding polygons. A rectilinear dual is called a cartogram if the area of each…
We consider the motion planning problem for a point constrained to move along a smooth closed convex path of bounded curvature. The workspace of the moving point is bounded by a convex polygon with m vertices, containing an obstacle in a…
This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection…
Due to their importance in both data analysis and numerical algorithms, low rank approximations have recently been widely studied. They enable the handling of very large matrices. Tight error bounds for the computationally efficient…
The skeleton of a digital image is a compact representation of its topology, geometry, and scale. It has utility in many computer vision applications, such as image description, segmentation, and registration. However, skeletonization has…
Let $P$ be a set of $n$ points in the plane. We compute the value of $\theta\in [0,2\pi)$ for which the rectilinear convex hull of $P$, denoted by $\mathcal{RH}_\theta(P)$, has minimum (or maximum) area in optimal $O(n\log n)$ time and…
A drawing of a graph is said to be a {\em straight-line drawing} if the vertices of $G$ are represented by distinct points in the plane and every edge is represented by a straight-line segment connecting the corresponding pair of vertices…
The skeleton is an essential shape characteristic providing a compact representation of the studied shape. Its computation on the image grid raises many issues. Due to the effects of discretization, the required properties of the skeleton -…