Related papers: Geometry-Aware Coverage Path Planning for Depowder…
LiDARs are usually more accurate than cameras in distance measuring. Hence, there is strong interest to apply LiDARs in autonomous driving. Different existing approaches process the rich 3D point clouds for object detection, tracking and…
Partial multi-view clustering (PVC) presents significant challenges practical research problem for data analysis in real-world applications, especially when some views of the data are partially missing. Existing clustering methods struggle…
This article addresses the challenge of UAV survey coverage path planning for areas that are complex concave polygons, containing exclusion zones or obstacles. While standard drone path planners typically generate coverage paths for simple…
This paper introduces an approach to produce accurate 3D detection boxes for objects on the ground using single monocular images. We do so by merging 2D visual cues, 3D object dimensions, and ground plane constraints to produce boxes that…
We propose Convexity-Driven Projection (CDP), a boundary-free linear method for dimensionality reduction of point clouds that targets preserving detour-induced local non-convexity. CDP builds a $k$-NN graph, identifies admissible pairs…
Recent studies in 3D object detection for autonomous vehicles aim to enrich features through the utilization of multi-modal setups or the extraction of local patterns within LiDAR point clouds. However, multi-modal methods face significant…
A depth map can be represented by a set of learned bases and can be efficiently solved in a closed form solution. However, one issue with this method is that it may create artifacts when colour boundaries are inconsistent with depth…
We propose a novel approach for probabilistic generative modeling of 3D shapes. Unlike most existing models that learn to deterministically translate a latent vector to a shape, our model, Point-Voxel Diffusion (PVD), is a unified,…
For many important network types (e.g., sensor networks in complex harsh environments and social networks) physical coordinate systems (e.g., Cartesian), and physical distances (e.g., Euclidean), are either difficult to discern or…
Semantic segmentation of 3D point cloud is an essential task for autonomous driving environment perception. The pipeline of most pointwise point cloud semantic segmentation methods includes points sampling, neighbor searching, feature…
Mesh-based scene representation offers a promising direction for simplifying large-scale hierarchical visual localization pipelines, combining a visual place recognition step based on global features (retrieval) and a visual localization…
We present a central-peripheral vision-inspired framework (CVP), a simple yet effective multimodal model for spatial reasoning that draws inspiration from the two types of human visual fields -- central vision and peripheral vision.…
Zero-shot 3D point cloud understanding can be achieved via 2D Vision-Language Models (VLMs). Existing strategies directly map Vision-Language Models from 2D pixels of rendered or captured views to 3D points, overlooking the inherent and…
Popular industrial robotic problems such as spray painting and welding require (i) conditioning on free-shape 3D objects and (ii) planning of multiple trajectories to solve the task. Yet, existing solutions make strong assumptions on the…
Minimum Cost Polygon Overlay (MCPO) is a unique two-dimensional optimization problem that involves the task of covering a polygon shaped area with a series of rectangular shaped panels. This has a number of applications in the construction…
In this paper, we develop constructive algorithms for generating quasi-uniform point sets and sequences over arbitrary two-dimensional triangular domains. Our proposed method, called the \emph{Voronoi-guided greedy packing} algorithm,…
Despite the decomposition of convolutional kernels for lightweight CNNs being well studied, existing works that rely on tensor network diagrams or hyperdimensional abstraction lack geometry intuition. This work devises a new perspective by…
We present a real-time algorithm that finds the Penetration Depth (PD) between general polygonal models based on iterative and local optimization techniques. Given an in-collision configuration of an object in configuration space, we find…
Computational analysis with the finite element method requires geometrically accurate meshes. It is well known that high-order meshes can accurately capture curved surfaces with fewer degrees of freedom in comparison to low-order meshes.…
We present a novel non-iterative learnable method for partial-to-partial 3D shape registration. The partial alignment task is extremely complex, as it jointly tries to match between points and identify which points do not appear in the…