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Viewpoint planning is critical for efficient 3D data acquisition in applications such as 3D reconstruction, building life-cycle management, navigation, and interior decoration. However, existing methods often neglect key optimization…
Particle size measurement based on digital holography with conventional algorithms are usually time-consuming and susceptible to noises associated with hologram quality and particle complexity, limiting its usage in a broad range of…
We study the problem of partitioning a given simple polygon $P$ into a minimum number of connected polygonal pieces, each of bounded size. We describe a general technique for constructing such partitions that works for several notions of…
We develop a sketching algorithm to find the point on the convex hull of a dataset, closest to a query point outside it. Studying the convex hull of datasets can provide useful information about their geometric structure and their…
3-SAT problem is of great importance to many technical and scientific applications. This paper presents a new hybrid evolutionary algorithm for solving this satisfiability problem. 3-SAT problem has the huge search space and hence it is…
Pose graph optimization (PGO) is a well-known technique for solving the pose-based simultaneous localization and mapping (SLAM) problem. In this paper, we represent the rotation and translation by a unit quaternion and a three-dimensional…
The Continuous p-Dispersion Problem (CpDP) with boundary constraints asks for the placement of a fixed number of points in a compact subset of Euclidean space such that the minimum distance between any two points, as well as the points and…
This presentation will introduce the audience to a new, emerging body of research on sequential Monte Carlo techniques in robotics. In recent years, particle filters have solved several hard perceptual robotic problems. Early successes were…
Partitioning and grouping of similar objects plays a fundamental role in image segmentation and in clustering problems. In such problems a typical goal is to group together similar objects, or pixels in the case of image processing. At the…
In graph modification problems, one is given a graph G and the goal is to apply a minimum number of modification operations (such as edge deletions) to G such that the resulting graph fulfills a certain property. For example, the Cluster…
In this paper, we consider the 1.5-dimensional orthogonal terrain guarding problem. In this problem, we assign an x-monotone chain T because each edge is either horizontal or vertical, and determine the minimal number of vertex guards for…
In the classical facility location problem we consider a graph $G$ with fixed weights on the edges of $G$. The goal is then to find an optimal positioning for a set of facilities on the graph with respect to some objective function. We…
We present a factor $14D^2$ approximation algorithm for the minimum linear arrangement problem on series-parallel graphs, where $D$ is the maximum degree in the graph. Given a suitable decomposition of the graph, our algorithm runs in time…
In the study of deterministic distributed algorithms it is commonly assumed that each node has a unique $O(\log n)$-bit identifier. We prove that for a general class of graph problems, local algorithms (constant-time distributed algorithms)…
This article considers the problem of storing the paths generated by a particle filter and more generally by a sequential Monte Carlo algorithm. It provides a theoretical result bounding the expected memory cost by $T + C N \log N$ where…
This study considers the object localization problem and proposes a novel multiparticle Kalman filter to solve it in complex and symmetric environments. Two well-known classes of filtering algorithms to solve the localization problem are…
Placing a minimum number of guards on a given watchman route in a polygonal domain is called the {\em minimum vision points problem}. We prove that finding the minimum number of vision points on a shortest watchman route in a simple polygon…
Object triangulation, 3-D object tracking, feature correspondence, and camera calibration are key problems for estimation from camera networks. This paper addresses these problems within a unified Bayesian framework for joint multi-object…
A common way of partitioning graphs is through minimum cuts. One drawback of classical minimum cut methods is that they tend to produce small groups, which is why more balanced variants such as normalized and ratio cuts have seen more…
Recently, there has been increasing interest and progress in improvising the approximation algorithm for well-known NP-Complete problems, particularly the approximation algorithm for the Vertex-Cover problem. Here we have proposed a…