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Robust estimation is much more challenging in high dimensions than it is in one dimension: Most techniques either lead to intractable optimization problems or estimators that can tolerate only a tiny fraction of errors. Recent work in…
The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneous transformation matrices and dual quaternion approaches…
Point containment queries on trimmed surfaces are fundamental to CAD modeling, solid geometry processing, and surface tessellation. Existing approaches such as ray casting and generalized winding numbers often face limitations in robustness…
Block iterative methods are extremely important as smoothers for multigrid methods, as preconditioners for Krylov methods, and as solvers for diagonally dominant linear systems. Developing robust and efficient algorithms suitable for…
Statistical uncertainties complicate engineering design -- confounding regulated design approaches, and degrading the performance of reliability efforts. The simplest means to tackle this uncertainty is double loop simulation; a nested…
Automatic methods for reconstructing buildings from airborne LiDAR point clouds focus on producing accurate 3D models in a fast and scalable manner, but they overlook the problem of delivering simple and regularized models to practitioners.…
Traditional iterative reconstruction methods are accurate but computationally expensive, limiting their use in high-throughput and real-time ptychography. Recent deep learning approaches improve speed, but often predict phase as a Euclidean…
This paper presents a new algorithm for filling holes in Level of Detail 2 (LoD2) building mesh models, addressing the challenges posed by geometric inaccuracies and topological errors. Unlike traditional methods that often alter the…
We present a novel AI-assisted method for decomposing (segmenting) planar CAD (computer-aided design) models into well shaped rectangular blocks as a proof-of-principle of a general decomposition method applicable to complex 2D and 3D CAD…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
In this paper, we propose a primal-dual splitting algorithm for a broad class of structured composite monotone inclusions that involve finitely many set-valued operators, compositions of set-valued operators with bounded linear operators,…
The choice of data representation is a key factor in the success of deep learning in geometric tasks. For instance, DUSt3R recently introduced the concept of viewpoint-invariant point maps, generalizing depth prediction and showing that all…
Detection, tracking, and pose estimation of surgical instruments are crucial tasks for computer assistance during minimally invasive robotic surgery. In the majority of cases, the first step is the automatic segmentation of surgical tools.…
The goal of this paper is to present a new efficient image segmentation method based on evolutionary computation which is a model inspired from human behavior. Based on this model, a four layer process for image segmentation is proposed…
An $n\times n\times\dots\times n$ hypercube is made from $n^d$ unit hypercubes. Two unit hypercubes are neighbours if they share a $(d-1)$-dimensional face. In each step of a dismantling process, we remove a unit hypercube that has…
Reconstructing semantic 3D building models at the level of detail (LoD) 3 is a long-standing challenge. Unlike mesh-based models, they require watertight geometry and object-wise semantics at the fa\c{c}ade level. The principal challenge of…
Dynamic programming (DP) is an algorithmic design paradigm for the efficient, exact solution of otherwise intractable, combinatorial problems. However, DP algorithm design is often presented in an ad-hoc manner. It is sometimes difficult to…
We propose a novel and flexible roof modeling approach that can be used for constructing planar 3D polygon roof meshes. Our method uses a graph structure to encode roof topology and enforces the roof validity by optimizing a simple but…
We propose new primal-dual decomposition algorithms for solving systems of inclusions involving sums of linearly composed maximally monotone operators. The principal innovation in these algorithms is that they are block-iterative in the…
Cuspidal robots are robots with at least two inverse kinematic solutions that can be connected by a singularity-free path. Deciding the cuspidality of generic 3R robots has been studied in the past, but extending the study to…