Related papers: Scenic Routes with Weighted Points in 2D
A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…
We propose a new probabilistic programming language for the design and analysis of perception systems, especially those based on machine learning. Specifically, we consider the problems of training a perception system to handle rare events,…
Computing mountain passes is a standard way of finding critical points. We describe a numerical method for finding critical points that is convergent in the nonsmooth case and locally superlinearly convergent in the smooth finite…
Recent advances in image acquisition and scene reconstruction have enabled the generation of high-quality structural urban scene geometry, given sufficient site information. However, current capture techniques often overlook the crucial…
This paper studies the problem of how to choose good viewpoints for taking photographs of architectures. We achieve this by learning from professional photographs of world famous landmarks that are available on the Internet. Unlike previous…
Structured representations such as scene graphs serve as an efficient and compact representation that can be used for downstream rendering or retrieval tasks. However, existing efforts to generate realistic images from scene graphs perform…
The aim of this paper is to present an algorithm which gives all the possible paths that start from a specific node to another of a weighted multi-graph. This algorithm is intended to be applied for the direct topological method.
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
We look for elliptic curves featuring rational points whose coordinates form two arithmetic progressions, one for each coordinate. A constructive method for creating such curves is shown, for lengths up to 5.
A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based…
Modern navigation services often provide multiple paths connecting the same source and destination for users to select. Hence, ranking such paths becomes increasingly important, which directly affects the service quality. We present…
In this paper, we adapt the two topological numbers, which have been proposed to efficiently characterize simple points in specific neighborhoods for 3D binary images, to the case of 2D binary images. Unlike the 3D case, we only use a…
High definition (HD) maps have demonstrated their essential roles in enabling full autonomy, especially in complex urban scenarios. As a crucial layer of the HD map, lane-level maps are particularly useful: they contain geometrical and…
A path graph is the intersection graph of paths in a tree. A directed path graph is the intersection graph of paths in a directed tree. Even if path graphs and directed path graphs are characterized very similarly, their recognition…
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…
Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks which is pivotal for several robotics applications including autonomous driving, domestic service…
We consider the problem of routing on a network in the presence of line segment constraints (i.e., obstacles that edges in our network are not allowed to cross). Let $P$ be a set of $n$ points in the plane and let $S$ be a set of…
For any metric $d$ on $\mathbb{R}^2$, an ($\mathbb{R}^2,d$)-geometric graph is a graph whose vertices are points in $\mathbb{R}^2$, and two vertices are adjacent if and only if their distance is at most 1. If $d=\|.\|_{\infty}$, the metric…
Treemaps have been widely applied to the visualization of hierarchical data. A treemap takes a weighted tree and visualizes its leaves in a nested planar geometric shape, with sub-regions partitioned such that each sub-region has an area…
We propose a simple, geometrically-motivated construction of smooth random paths in the plane. The construction is such that, with probability one, the paths have finite curvature everywhere (and the realizations are visually pleasing when…