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We focus on the utilisation of reactive trajectory imitation controllers for goal-directed mobile robot navigation. We propose a topological navigation graph (TNG) - an imitation-learning-based framework for navigating through environments…
Large-scale incremental mapping is fundamental to the development of robust and reliable autonomous systems, as it underpins incremental environmental understanding with sequential inputs for navigation and decision-making. LiDAR is widely…
Over the past decade, artificially engineered optical materials and nanostructured thin films have revolutionized the area of photonics by employing novel concepts of metamaterials and metasurfaces where spatially varying structures yield…
Clustering aims to form groups of similar data points in an unsupervised regime. Yet, clustering complex datasets containing critically intertwined shapes poses significant challenges. The prevailing clustering algorithms widely depend on…
Track materialization converts raw video into reusable object tracks that downstream queries can run against without rerunning tracking, but extracting those tracks efficiently and with high fidelity remains expensive. Prior systems reduce…
The search for weakly interacting massive particles (WIMPs) by direct detection faces an encroaching background due to coherent neutrino-nucleus scattering. As the sensitivity of these experiments improves, the question of how to best…
Detecting multiple planes in images is a challenging problem, but one with many applications. Recent work such as J-Linkage and Ordered Residual Kernels have focussed on developing a domain independent approach to detect multiple…
This paper addresses the task of estimating the light arriving from all directions to a 3D point observed at a selected pixel in an RGB image. This task is challenging because it requires predicting a mapping from a partial scene…
The JWST has been collecting scientific data for over two years now. Scientists are now looking deeper into the data, which introduces the need to correct known systematic effects. Important limiting factors for the MIRI/MRS are the…
Autonomous vehicles such as the Mars rovers currently lead the vanguard of surface exploration on extraterrestrial planets and moons. In order to accelerate the pace of exploration and science objectives, it is critical to plan safe and…
This paper proposes a novel approach to map-based navigation system for unmanned aircraft. The proposed system attempts label-to-label matching, not image-to-image matching, between aerial images and a map database. The ground objects can…
Digital terrain maps (DTMs) are an important part of planetary exploration, enabling operations such as terrain relative navigation during entry, descent, and landing for spacecraft and aiding in navigation on the ground. As robotic…
In this work, we present a novel non-rigid shape matching framework based on multi-resolution functional maps with spectral attention. Existing functional map learning methods all rely on the critical choice of the spectral resolution…
Deep learning has been widely used for hyperspectral pixel classification due to its ability of generating deep feature representation. However, how to construct an efficient and powerful network suitable for hyperspectral data is still…
The simulation of nanophotonic structures relies on electromagnetic solvers, which play a crucial role in understanding their behavior. However, these solvers often come with a significant computational cost, making their application in…
We study the problem of symmetry detection of 3D shapes from single-view RGB-D images, where severely missing data renders geometric detection approach infeasible. We propose an end-to-end deep neural network which is able to predict both…
This paper considers maximum-a-posteriori (MAP) and linear discriminant based MAP detectors to detect changes in the mean and covariance of a stochastic input, driving specific network nodes, using noisy measurements from sensors…
Accurate identification of complex terrain characteristics, such as soil composition and coefficient of friction, is essential for model-based planning and control of mobile robots in off-road environments. Spectral signatures leverage…
The design of metamaterials which support unique optical responses is the basis for most thin-film nanophotonics applications. In practice this inverse design problem can be difficult to solve systematically due to the large design…
Nonlinear dimensionality reduction methods have demonstrated top-notch performance in many pattern recognition and image classification tasks. Despite their popularity, they suffer from highly expensive time and memory requirements, which…