Related papers: Geometry-based Graph Pruning for Lifelong SLAM
Using the spatial structure of various indoor environments as prior knowledge, the robot would construct the map more efficiently. Autonomous mobile robots generally apply simultaneous localization and mapping (SLAM) methods to understand…
Active Simultaneous Localisation and Mapping (SLAM) is a critical problem in autonomous robotics, enabling robots to navigate to new regions while building an accurate model of their surroundings. Visual SLAM is a popular technique that…
We introduce in this paper a new summarization method for large graphs. Our summarization approach retains only a user-specified proportion of the neighbors of each node in the graph. Our main aim is to simplify large graphs so that they…
We propose an exact algorithm for solving the longest simple path problem between two given vertices in undirected weighted graphs. By using graph partitioning and dynamic programming, we obtain an algorithm that is significantly faster…
Large graphs are difficult to represent, visualize, and understand. In this paper, we introduce "gate graph" - a new approach to perform graph simplification. A gate graph provides a simplified topological view of the original graph.…
Where am I? This is one of the most critical questions that any intelligent system should answer to decide whether it navigates to a previously visited area. This problem has long been acknowledged for its challenging nature in simultaneous…
The problem of sparsifying a graph or a hypergraph while approximately preserving its cut structure has been extensively studied and has many applications. In a seminal work, Bencz\'ur and Karger (1996) showed that given any $n$-vertex…
Exploration in unknown and unstructured environments is a pivotal requirement for robotic applications. A robot's exploration behavior can be inherently affected by the performance of its Simultaneous Localization and Mapping (SLAM)…
We study the design of fixed-parameter algorithms for problems already known to be solvable in polynomial time. The main motivation is to get more efficient algorithms for problems with unattractive polynomial running times. Here, we focus…
We initiate the study of dynamic algorithms for graph sparsification problems and obtain fully dynamic algorithms, allowing both edge insertions and edge deletions, that take polylogarithmic time after each update in the graph. Our three…
A novel method for robust estimation, called Graph-Cut RANSAC, GC-RANSAC in short, is introduced. To separate inliers and outliers, it runs the graph-cut algorithm in the local optimization (LO) step which is applied when a so-far-the-best…
Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surrounding environment. Since the first foundational work in active…
Graph partition is a key component to achieve workload balance and reduce job completion time in parallel graph processing systems. Among the various partition strategies, edge partition has demonstrated more promising performance in…
Progress in the last decade has brought about significant improvements in the accuracy and speed of SLAM systems, broadening their mapping capabilities. Despite these advancements, long-term operation remains a major challenge, primarily…
3D Gaussian Splatting (3DGS) has gained significant attention for its application in dense Simultaneous Localization and Mapping (SLAM), enabling real-time rendering and high-fidelity mapping. However, existing 3DGS-based SLAM methods often…
Given an undirected graph G, the edge orientation problem asks for assigning a direction to each edge to convert G into a directed graph. The aim is to minimize the maximum out degree of a vertex in the resulting directed graph. This…
We study the problem of finding large cuts in $d$-regular triangle-free graphs. In prior work, Shearer (1992) gives a randomised algorithm that finds a cut of expected size $(1/2 + 0.177/\sqrt{d})m$, where $m$ is the number of edges. We…
Motion planning problems have been studied by both the robotics and the controls research communities for a long time, and many algorithms have been developed for their solution. Among them, incremental sampling-based motion planning…
Graph sampling is a technique to pick a subset of vertices and/ or edges from original graph. It has a wide spectrum of applications, e.g. survey hidden population in sociology [54], visualize social graph [29], scale down Internet AS graph…
We present an incremental search algorithm, called Lifelong-GLS, which combines the vertex efficiency of Lifelong Planning A* (LPA*) and the edge efficiency of Generalized Lazy Search (GLS) for efficient replanning on dynamic graphs where…