Related papers: Scenic Routes over Points in 2D Space
Autonomous 3D acquisition of outdoor environments poses special challenges. Different from indoor scenes, where the room space is delineated by clear boundaries and separations (e.g., walls and furniture), an outdoor environment is spacious…
Due to the scarcity of annotated scene flow data, self-supervised scene flow learning in point clouds has attracted increasing attention. In the self-supervised manner, establishing correspondences between two point clouds to approximate…
In this paper, we consider the problem of reconstructing a directed graph using path queries. In this query model of learning, a graph is hidden from the learner, and the learner can access information about it with path queries. For a…
Despite recent advancements in single-domain or single-object image generation, it is still challenging to generate complex scenes containing diverse, multiple objects and their interactions. Scene graphs, composed of nodes as objects and…
Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…
How to understand deep learning systems remains an open problem. In this paper we propose that the answer may lie in the geometrization of deep networks. Geometrization is a bridge to connect physics, geometry, deep network and quantum…
Representing a scanned map of the real environment as a topological structure is an important research in robotics. %is currently an important research. Since topological representations of maps save a huge amount of map storage space and…
Car-focused navigation services are based on turns and distances of named streets, whereas navigation instructions naturally used by humans are centered around physical objects called landmarks. We present a neural model that takes…
Motivated by efforts to incorporate sheaves into networking, we seek to reinterpret pathfinding algorithms in terms of cellular sheaves, using Dijkstra's algorithm as an example. We construct sheaves on a graph with distinguished source and…
Directions and paths, as commonly provided by navigation systems, are usually derived considering absolute metrics, e.g., finding the shortest path within an underlying road network. With the aid of crowdsourced geospatial data we aim at…
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…
This paper presents a novel image-based path planning algorithm that was developed using computer vision techniques, as well as its comparative analysis with well-known deterministic and probabilistic algorithms, namely A* and Probabilistic…
We prove that any globular subdivision of multipointed $d$-spaces gives rise to a dihomotopy equivalence between the associated flows. As a straightforward application, the flows associated to two multipointed $d$-spaces related by a finite…
Given n red and n blue points in general position in the plane, it is well-known that there is a perfect matching formed by non-crossing line segments. We characterize the bichromatic point sets which admit exactly one non-crossing…
This paper studies the properties of convergence of distances between points and the existence and uniqueness of best proximity and fixed points of the so-called semi-cyclic impulsive self-mappings on the union of a number of nonempty…
We study here the social network generated by the asynchronous visits, to a fixed set of sites, of mobile agents modelled as independent random walks on the plane lattice. The social network is constructed by assuming that a group of agents…
Random intersection graphs have received much interest and been used in diverse applications. They are naturally induced in modeling secure sensor networks under random key predistribution schemes, as well as in modeling the topologies of…
Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to…
We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. objects, walls, rooms), and edges represent relations (e.g.…
We provide criteria for deciding whether a given planar curve is an image of a given spatial curve, obtained by a central or a parallel projection with unknown parameters. These criteria reduce the projection problem to a certain…