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In this thesis a probabilistic framework is developed and proposed for Dynamic Object Recognition in 3D Environments. A software package is developed using C++ and Python in ROS that performs the detection and tracking task. Furthermore, a…
This paper focuses on identifying vertex characteristics in 2D images using topological asymptotic analysis. Vertex characteristics include both the location and the type of the vertex, with the latter defined by the number of lines forming…
Random tilings are interesting as idealizations of atomistic models of quasicrystals and for their connection to problems in combinatorics and algorithms. Of particular interest is the tiling entropy density, which measures the relation of…
Scale variation is one of the most challenging problems in face detection. Modern face detectors employ feature pyramids to deal with scale variation. However, it might break the feature consistency across different scales of faces. In this…
We propose to explore the properties of raw point clouds through the \emph{winding clearness}, a concept we first introduce for measuring the clarity of the interior/exterior relationships represented by the winding number field of the…
Meshes are widely used in 3D computer vision and graphics, but their irregular topology poses challenges in applying them to existing neural network architectures. Recent advances in mesh neural networks turn to remeshing and push the…
Multiview varieties are mathematical models for the set of image feature correspondences that can be produced by a given camera arrangement. They possess an invariant known as their Euclidean distance (ED) degree, which measures the…
Many applications in vision require estimation of thin structures such as boundary edges, surfaces, roads, blood vessels, neurons, etc. Unlike most previous approaches, we simultaneously detect and delineate thin structures with sub-pixel…
To cope with the high requirements during the computation of semantic segmentations of earth observation imagery, current state-of-the-art pipelines divide the corresponding data into smaller images. Existing methods and benchmark datasets…
A \emph{matching} is a subset of edges in a graph $G$ that do not share an endpoint. A matching $M$ is a \emph{$\mathcal{P}$-matching} if the subgraph of $G$ induced by the endpoints of the edges of $M$ satisfies property $\mathcal{P}$. For…
A geophylogeny is a phylogenetic tree (or dendrogram) where each leaf (e.g. biological taxon) has an associated geographic location (site). To clearly visualize a geophylogeny, the tree is typically represented as a crossing-free drawing…
Lines are interesting geometrical features commonly seen in indoor and urban environments. There is missing a complete benchmark where one can evaluate lines from a sequential stream of images in all its stages: Line detection, Line…
We propose a guidance strategy to optimize real-time synthetic aperture sampling for occlusion removal with drones by pre-scanned point-cloud data. Depth information can be used to compute visibility of points on the ground for individual…
Feature attributions are a popular tool for explaining the behavior of Deep Neural Networks (DNNs), but have recently been shown to be vulnerable to attacks that produce divergent explanations for nearby inputs. This lack of robustness is…
The threshold-$k$ metric dimension ($\mathrm{Tmd}_k$) of a graph is the minimum number of sensors -- a subset of the vertex set -- needed to uniquely identify any vertex in the graph, solely based on its distances from the sensors, when the…
This paper introduces an active object detection and localization framework that combines a robust untextured object detection and 3D pose estimation algorithm with a novel next-best-view selection strategy. We address the detection and…
Neural networks are becoming increasingly prevalent in software, and it is therefore important to be able to verify their behavior. Because verifying the correctness of neural networks is extremely challenging, it is common to focus on the…
The identification and modeling of the terrain from point cloud data is an important component of Terrestrial Remote Sensing (TRS) applications. The main focus in terrain modeling is capturing details of complex geological features of…
Tunnels are essential elements of transportation infrastructure, but are increasingly affected by ageing and deterioration mechanisms such as cracking. Regular inspections are required to ensure their safety, yet traditional manual…
Advances in precision agriculture greatly rely on innovative control and sensing technologies that allow service units to increase their level of driving automation while ensuring at the same time high safety standards. This paper deals…