Related papers: Scenic Routes with Weighted Points in 2D

Random geometric graphs are a popular choice for a latent points generative model for networks. Their definition is based on a sample of $n$ points $X_1,X_2,\cdots,X_n$ on the Euclidean sphere~$\mathbb{S}^{d-1}$ which represents the latent…

Weighted counting problems are a natural generalization of counting problems where a weight is associated with every computational path of polynomial-time non-deterministic Turing machines and the goal is to compute the sum of the weights…

In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path planning with local geometric awareness to enable collision-free…

Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…

The problem of computing saddle points is important in certain problems in numerical partial differential equations and computational chemistry, and is often solved numerically by a minimization problem over a set of mountain passes. We…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…

Semantic segmentation is an important and well-known task in the field of computer vision, in which we attempt to assign a corresponding semantic class to each input element. When it comes to semantic segmentation of 2D images, the input…

Explaining decisions made by deep neural networks is a rapidly advancing research topic. In recent years, several approaches have attempted to provide visual explanations of decisions made by neural networks designed for structured 2D image…

In many areas of applied geometric/numeric computational mathematics, including geo-mapping, computer vision, computer graphics, finite element analysis, medical imaging, geometric design, and solid modeling, one has to compute incidences,…

The use of rendered images, whether from completely synthetic datasets or from 3D reconstructions, is increasingly prevalent in vision tasks. However, little attention has been given to how the selection of viewpoints affects the…

We study computing geometric problems on uncertain points. An uncertain point is a point that does not have a fixed location, but rather is described by a probability distribution. When these probability distributions are restricted to a…

2D path planning in static environment is a well-known problem and one of the common ways to solve it is to 1) represent the environment as a grid and 2) perform a heuristic search for a path on it. At the same time 2D grid resembles much a…

The aim of this paper is to investigate an attempt to build a binary classification algorithm using principles of geometry such as vectors, planes, and vector algebra. The basic idea behind the proposed algorithm is that a hyperplane can be…

Due to the difficulty in generating the effective descriptors which are robust to occlusion and viewpoint changes, place recognition for 3D point cloud remains an open issue. Unlike most of the existing methods that focus on extracting…

We show that weighted path orders are special instances of a variant of semantic path orders. Exploiting this fact, we introduce a generalization of weighted path orders that goes beyond the realm of simple termination. Experimental data…

A heavy path in a weighted graph represents a notion of connectivity and ordering that goes beyond two nodes. The heaviest path of length l in the graph, simply means a sequence of nodes with edges between them, such that the sum of edge…

3D Scene Graphs integrate both metric and semantic information, yet their structure remains underutilized for improving path planning efficiency and interpretability. In this work, we present S-Path, a situationally-aware path planner that…

Realistic path planning applications often require optimizing with respect to several criteria simultaneously. Here we introduce an efficient algorithm for bi-criteria path planning on graphs. Our approach is based on augmenting the state…

The goal of this paper is to take a single 2D image of a scene and recover the 3D structure in terms of a small set of factors: a layout representing the enclosing surfaces as well as a set of objects represented in terms of shape and pose.…