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In this article, we consider a collection of geometric problems involving points colored by two colors (red and blue), referred to as bichromatic problems. The motivation behind studying these problems is two fold; (i) these problems appear…
This paper addresses the problem of a boundary control design for traffic evolving in a large-scale urban network. The traffic state is described on a macroscopic scale and corresponds to the vehicle density, whose dynamics are governed by…
Pathfinding is a very popular area in computer game development. While two-dimensional (2D) pathfinding is widely applied in most of the popular game engines, little implementation of real three-dimensional (3D) pathfinding can be found.…
Semantic segmentation is the pixel-wise labelling of an image. Since the problem is defined at the pixel level, determining image class labels only is not acceptable, but localising them at the original image pixel resolution is necessary.…
We explore computational approaches for visual guidance to aid in creating aesthetically pleasing art and graphic design. Our work complements and builds on previous work that developed models for how humans look at images. Our approach…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
An understanding and classification of driving scenarios are important for testing and development of autonomous driving functionalities. Machine learning models are useful for scenario classification but most of them assume that data…
Every human likes choices. But today's fast route planning algorithms usually compute just a single route between source and target. There are beginnings to compute alternative routes, but this topic has not been studied thoroughly. Often,…
In this paper we address the problem of detecting crosswalks from LiDAR and camera imagery. Towards this goal, given multiple LiDAR sweeps and the corresponding imagery, we project both inputs onto the ground surface to produce a top down…
Capabilities of inference and prediction are significant components of visual systems. In this paper, we address an important and challenging task of them: visual path prediction. Its goal is to infer the future path for a visual object in…
In this paper we introduce a variation on the multidimensional segment tree, formed by unifying different interpretations of the dimensionalities of the data structure. We give some new definitions to previously well-defined concepts that…
Understanding complex scenarios from in-vehicle cameras is essential for safely operating autonomous driving systems in densely populated areas. Among these, intersection areas are one of the most critical as they concentrate a considerable…
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…
Image semantic segmentation is more and more being of interest for computer vision and machine learning researchers. Many applications on the rise need accurate and efficient segmentation mechanisms: autonomous driving, indoor navigation,…
Computing the shortest path between two given locations in a road network is an important problem that finds applications in various map services and commercial navigation products. The state-of-the-art solutions for the problem can be…
Scene recognition is currently one of the top-challenging research fields in computer vision. This may be due to the ambiguity between classes: images of several scene classes may share similar objects, which causes confusion among them.…
In practical purposes for some geometrical problems in computer science we have as information the coordinates of some finite points in surface instead of the whole body of a surface. The problem arised here is: "How to define a distance…
Essential tasks in autonomous driving includes environment perception, detection and tracking, path planning and action control. This paper focus on path planning, which is one of the challenging task as it needs to find optimal path in…
One core challenge in the development of automated vehicles is their capability to deal with a multitude of complex trafficscenarios with many, hard to predict traffic participants. As part of the iterative development process, it is…
To understand a scene in depth not only involves locating/recognizing individual objects, but also requires to infer the relationships and interactions among them. However, since the distribution of real-world relationships is seriously…