Related papers: Geometry-Aware Coverage Path Planning for Depowder…
In this paper, we present a surface remeshing method with high approximation quality based on Principal Component Analysis. Given a triangular mesh and a user assigned polygon/vertex budget, traditional methods usually require the extra…
Purpose: The purpose of this work is to investigate the hypothesis that uniform sampling measurements that are endowed with antipodal symmetry play an important role when the raw data and image data are related through the Fourier…
The phase-transition behavior of the NP-hard vertex-cover (VC) combinatorial optimization problem is studied numerically by linear programming (LP) on ensembles of random graphs. As the basic Simplex (SX) algorithm suitable for such LPs may…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
We propose a novel approach for 3D shape completion by synthesizing multi-view depth maps. While previous work for shape completion relies on volumetric representations, meshes, or point clouds, we propose to use multi-view depth maps from…
This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface inspection focus on planning a path offline that can provide…
In aerial visual area coverage missions, the camera footprint changes over time based on the camera position and orientation -- a fact that complicates the whole process of coverage and path planning. This article proposes a solution to the…
Visual place recognition (VPR) is a highly challenging task that has a wide range of applications, including robot navigation and self-driving vehicles. VPR is particularly difficult due to the presence of duplicate regions and the lack of…
Coverage Path Planning (CPP) is vital in precision agriculture to improve efficiency and resource utilization. In irregular and dispersed plantations, traditional grid-based CPP often causes redundant coverage over non-vegetated areas,…
This article is the updated version of the paper: "Combined 3D thinning and greedy algorithm to approximate realistic particles with corrected mechanical properties, Granular Matter (2019)" by the first author [58]. The main changes here…
Shortest paths play an important role in mathematical modeling and image processing. Usually, shortest path problems are formulated on planar graphs that consist of vertices and weighted arcs. In this context, one is interested in finding a…
Point cloud salient object detection has attracted the attention of researchers in recent years. Since existing works do not fully utilize the geometry context of 3D objects, blurry boundaries are generated when segmenting objects with…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
An algorithm for 3D terrain-following area coverage path planning is presented. Multiple adjacent paths are generated that are (i) locally apart from each other by a distance equal to the working width of a machinery, while (ii)…
We study Multi-Robot Coverage Path Planning (MCPP) on a 4-neighbor 2D grid G, which aims to compute paths for multiple robots to cover all cells of G. Traditional approaches are limited as they first compute coverage trees on a quadrant…
Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…
Geometric rounding of a mesh is the task of approximating its vertex coordinates by floating point numbers while preserving mesh structure. Geometric rounding allows algorithms of computational geometry to interface with numerical…
Point cloud completion aims to recover complete 3D geometry from partial observations caused by limited viewpoints and occlusions. Existing learning-based works, including 3D Convolutional Neural Network (CNN)-based, point-based, and…
Planning the path to gather the surface information of the target objects is crucial to improve the efficiency of and reduce the overall cost, for visual inspection applications with Unmanned Aerial Vehicles (UAVs). Coverage Path Planning…
Effective risk monitoring in dynamic environments such as disaster zones requires an adaptive exploration strategy to detect hidden threats. We propose a bi-level unmanned aerial vehicle (UAV) monitoring strategy that efficiently integrates…