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Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through the real-time detection of elliptic and rectangle shape…
Segmenting highly-overlapping objects is challenging, because typically no distinction is made between real object contours and occlusion boundaries. Unlike previous two-stage instance segmentation methods, we model image formation as…
High-dimensional and complex spectral structures make the clustering of hyperspectral images (HSI) a challenging task. Subspace clustering is an effective approach for addressing this problem. However, current subspace clustering algorithms…
We present new algorithms to perform fast probabilistic collision queries between convex as well as non-convex objects. Our approach is applicable to general shapes, where one or more objects are represented using Gaussian probability…
Shearing interferometry is a common-path quantitative phase imaging technique in which an object beam interferes with a laterally shifted replica of itself, providing high temporal stability, reduced sensitivity to environmental noise,…
Robust local feature representations are essential for spatial intelligence tasks such as robot navigation and augmented reality. Establishing reliable correspondences requires descriptors that provide both high discriminative power and…
An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…
This article presents an easy distance field-based collision detection scheme to detect collisions of an object with its environment. Through the clever use of back-face culling and z-buffering, the solution is precise and very easy to…
Fully convolutional networks have shown outstanding performance in the salient object detection (SOD) field. The state-of-the-art (SOTA) methods have a tendency to become deeper and more complex, which easily homogenize their learned deep…
Point cloud models are a common shape representation for several reasons. Three-dimensional scanning devices are widely used nowadays and points are an attractive primitive for rendering complex geometry. Nevertheless, there is not much…
We consider geometric collision-detection problems for modular reconfigurable robots. Assuming the nodes (modules) are connected squares on a grid, we investigate the complexity of deciding whether collisions may occur, or can be avoided,…
Segmentation of overlapping convex objects has various applications, for example, in nanoparticles and cell imaging. Often the segmentation method has to rely purely on edges between the background and foreground making the analyzed images…
In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…
Hyperspectral imaging (HSI) has been extensively utilized for a number of real-world applications. HSI classification (HSIC) is a challenging task due to high inter-class similarity, high intra-class variability, overlapping, and nested…
In this work, we propose a new segmentation algorithm for images containing convex objects present in multiple shapes with a high degree of overlap. The proposed algorithm is carried out in two steps, first we identify the visible contours,…
As human-machine interaction continues to evolve, the capacity for environmental perception is becoming increasingly crucial. Integrating the two most common types of sensory data, images, and point clouds, can enhance detection accuracy.…
We initiate the study of diameter computation in geometric intersection graphs from the fine-grained complexity perspective. A geometric intersection graph is a graph whose vertices correspond to some shapes in $d$-dimensional Euclidean…
We present an algorithm to simulate the many-body depletion interaction between anisotropic colloids in an implicit way, integrating out the degrees of freedom of the depletants, which we treat as an ideal gas. Because the depletant…
The goal of co-salient object detection (CoSOD) is to discover salient objects that commonly appear in a query group containing two or more relevant images. Therefore, how to effectively extract inter-image correspondence is crucial for the…
This paper improves the algorithms based on supporting halfspaces and quadratic programming for convex set intersection problems in our earlier paper in several directions. First, we give conditions so that much smaller quadratic programs…