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Scene flow provides crucial motion information for autonomous driving. Recent LiDAR scene flow models utilize the rigid-motion assumption at the instance level, assuming objects are rigid bodies. However, these instance-level methods are…

Surface integrals on density level sets often appear in asymptotic results in nonparametric level set estimation (such as for confidence regions and bandwidth selection). Also surface integrals can be used to describe the shape of level…

Accurate 3D geometry acquisition is essential for a wide range of applications, such as computer graphics, autonomous driving, robotics, and augmented reality. However, raw point clouds acquired in real-world environments are often…

Ferroic domain walls are known to display the characteristic scaling properties of self-affine rough interfaces. Different methods have been used to extract roughness information in ferroelectric and ferromagnetic materials. Here, we review…

Lidar sensors are often used in mobile robots and autonomous vehicles to complement camera, radar and ultrasonic sensors for environment perception. Typically, perception algorithms are trained to only detect moving and static objects as…

Localization of a robotic system within a previously mapped environment is important for reducing estimation drift and for reusing previously built maps. Existing techniques for geometry-based localization have focused on the description of…

Single image surface normal estimation and depth estimation are closely related problems as the former can be calculated from the latter. However, the surface normals computed from the output of depth estimation methods are significantly…

LiDAR is widely used to capture accurate 3D outdoor scene structures. However, LiDAR produces many undesirable noise points in snowy weather, which hamper analyzing meaningful 3D scene structures. Semantic segmentation with snow labels…

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…

We address the problem of comparing and aligning spatial point configurations in $\mathbb{R}^3$ arising from structured geometric patterns. Each pattern is decomposed into arms along which we define a normalized finite-difference operator…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Street network analysis holds appeal as a tool for the assessment of pedestrian connectivity and its relation to the intensity and mix of land-uses; however, application within urban-design triggers a range of questions on implementary…

State-of-the-art methods for quantifying wear in cylinder liners of large internal combustion engines require disassembly and cutting of the liner. This is followed by laboratory-based high-resolution microscopic surface depth measurement…

Surface roughness of particle monolayer is one of its fundamental characteristics, conventionally described in terms of power spectral density. We derive a general equation for this function and demonstrate its similarity to those applied…

In a previous work of the authors, a result to algorithmically compute the topology types of the level curves of an algebraic surface, is given. From this result, here we derive applications based on level curves to determine some…

Both in terrestrial and extraterrestrial environments, the precise and informative model of the ground and the surface ahead is crucial for navigation and obstacle avoidance. The ground surface is not always flat and it may be sloped, bumpy…

Roughness of driven elastic interfaces in random media is typically understood to be characterized by a single roughness exponent $\zeta$. We show that at the depinning threshold, due to symmetry breaking caused by the direction of the…

We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust…

With climate change and increasing human pressure on natural landscapes, inland water resources are becoming progressively scarcer, more vulnerable, and more difficult to manage sustainably. Reliable and automated methods for detecting,…

We present a method that uses high-resolution topography data of rough terrain, and ground vehicle simulation, to predict traversability. Traversability is expressed as three independent measures: the ability to traverse the terrain at a…