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Automatic extraction of road curbs from uneven, unorganized, noisy and massive 3D point clouds is a challenging task. Existing methods often project 3D point clouds onto 2D planes to extract curbs. However, the projection causes loss of 3D…
Satellite imaging has a central role in monitoring, detecting and estimating the intensity of key natural phenomena. One important feature of satellite images is the trade-off between spatial/spectral resolution and their revisiting time, a…
In LiDAR-based environment perception systems, ground segmentation is a key preprocessing step supporting various applications such as mapping and navigation. Although extensively studied, problems such as reflection noise and isolated…
Sampling-based planning methods often become inefficient due to narrow passages. Narrow passages induce a higher runtime, because the chance to sample them becomes vanishingly small. In recent work, we showed that narrow passages can be…
A numerical method is presented to obtain approximate solutions to problems arising from sedimentation models. These processes are widely utilized in minery for recovering water from suspensions coming out of flotation processes. The main…
The idea of video super resolution is to use different view points of a single scene to enhance the overall resolution and quality. Classical energy minimization approaches first establish a correspondence of the current frame to all its…
Autonomous navigation in unstructured off-road environments is greatly improved by semantic scene understanding. Conventional image processing algorithms are difficult to implement and lack robustness due to a lack of structure and high…
In the recent advancement of multimedia technologies, it becomes a major concern of detecting visual attention regions in the field of image processing. The popularity of the terminal devices in a heterogeneous environment of the multimedia…
Many computer vision systems require low-cost segmentation algorithms based on deep learning, either because of the enormous size of input images or limited computational budget. Common solutions uniformly downsample the input images to…
Rapid generation of large-scale orthoimages from Unmanned Aerial Vehicles (UAVs) has been a long-standing focus of research in the field of aerial mapping. A multi-sensor UAV system, integrating the Global Positioning System (GPS), Inertial…
We propose a foreground segmentation algorithm that does foreground extraction under different scales and refines the result by matting. First, the input image is filtered and resampled to 5 different resolutions. Then each of them is…
In the reconstruction process of unknown multiple scattering objects in inverse medium scattering problems, the first important step is to effectively locate some approximate domains that contain all inhomogeneous media. Without such an…
We interleave sampling based motion planning methods with pruning ideas from minimum spanning tree algorithms to develop a new approach for solving a Multi-Goal Path Finding (MGPF) problem in high dimensional spaces. The approach alternates…
Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…
The demand for high-resolution videos has been consistently rising across various domains, propelled by continuous advancements in science, technology, and societal. Nonetheless, challenges arising from limitations in imaging equipment…
We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…
The effectiveness of projection methods for solving systems of linear inequalities is investigated. It is shown that they have a computational advantage over some alternatives and that this makes them successful in real-world applications.…
Floorplan reconstruction provides structural priors essential for reliable indoor robot navigation and high-level scene understanding. However, existing approaches either require time-consuming offline processing with a complete map, or…
Finite element methods typically require a high resolution to satisfactorily approximate micro and even macro patterns of an underlying physical model. This issue can be circumvented by appropriate multiscale strategies that are able to…
We consider the problem of performing ranging measurements between a source and multiple receivers efficiently and accurately, as required by distance-based wireless localization systems. To this end, a new multipoint ranging algorithm is…