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In this paper, a novel learning-based network, named DeepDT, is proposed to reconstruct the surface from Delaunay triangulation of point cloud. DeepDT learns to predict inside/outside labels of Delaunay tetrahedrons directly from a point…
Point-cloud semantic segmentation underpins a wide range of critical applications. Although recent deep architectures and large-scale datasets have driven impressive closed-set performance, these models struggle to recognize or properly…
We have performed a 70 billion dark-matter particles N-body simulation in a 2 $h^{-1}$ Gpc periodic box, using the concordance, cosmological model as favored by the latest WMAP3 results. We have computed a full-sky convergence map with a…
The task of vision-based 3D occupancy prediction aims to reconstruct 3D geometry and estimate its semantic classes from 2D color images, where the 2D-to-3D view transformation is an indispensable step. Most previous methods conduct forward…
We consider the problem of finding all enclosing rectangles of minimum area that can contain a given set of rectangles without overlap. Our rectangle packer chooses the x-coordinates of all the rectangles before any of the y-coordinates. We…
In this paper, we consider the problem of identifying a linear map from measurements which are subject to intermittent and arbitarily large errors. This is a fundamental problem in many estimation-related applications such as fault…
In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…
In the classic circle packing problem, one asks whether a given set of circles can be packed into a given container. Packing problems like this have been shown to be $\mathsf{NP}$-hard. In this paper, we present new sufficient conditions…
We develop a method to estimate the dust attenuation curve of galaxies from full spectral fitting of their optical spectra. Motivated from previous studies, we separate the small-scale features from the large-scale spectral shape, by…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
We start by considering the problem of estimating intrinsic distances on a smooth submanifold. We show that minimax optimality can be obtained via a reconstruction of the surface, and discuss the use of a particular mesh construction -- the…
We introduce OV-MAP, a novel approach to open-world 3D mapping for mobile robots by integrating open-features into 3D maps to enhance object recognition capabilities. A significant challenge arises when overlapping features from adjacent…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…
Understanding 3D scenes semantically and spatially is crucial for the safe navigation of robots and autonomous vehicles, aiding obstacle avoidance and accurate trajectory planning. Camera-based 3D semantic occupancy prediction, which infers…
We address the problem of clustering a set of points in $\mathbb{R}^d$ with axis-parallel clusters. Previous exact approaches to this problem are mostly based on integer programming formulations and can only solve to optimality instances of…
A comprehensive framework for detection and characterization of overlapping intrinsic symmetry over 3D shapes is proposed. To identify prominent symmetric regions which overlap in space and vary in form, the proposed framework is decoupled…
Incomplete multi-view clustering is a challenging and non-trivial task to provide effective data analysis for large amounts of unlabeled data in the real world. All incomplete multi-view clustering methods need to address the problem of how…
Point cloud completion aims to recover the complete 3D shape of an object from partial observations. While approaches relying on synthetic shape priors achieved promising results in this domain, their applicability and generalizability to…
In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…
Null points are important locations in vector fields, such as a magnetic field. A new technique (a trilinear method for finding null points) is presented for finding null points over a large grid of points, such as those derived from a…