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This paper presents an alternate choice of computing the convex hulls (CHs) for planar point sets. We firstly discard the interior points and then sort the remaining vertices by x- / y- coordinates separately, and later create a group…
Whether it is object detection, model reconstruction, laser odometry, or point cloud registration: Plane extraction is a vital component of many robotic systems. In this paper, we propose a strictly probabilistic method to detect finite…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
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…
This paper studies first-order algorithms for solving fully composite optimization problems over convex and compact sets. We leverage the structure of the objective by handling its differentiable and non-differentiable components…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
The increasing demand for larger and higher fidelity simulations has made Adaptive Mesh Refinement (AMR) and unstructured mesh techniques essential to focus compute effort and memory cost on just the areas of interest in the simulation…
In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of…
We propose a multiscale approach for an elliptic multiscale setting with general unstructured diffusion coefficients that is able to achieve high-order convergence rates with respect to the mesh parameter and the polynomial degree. The…
This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…
The arrangement of objects into a layout can be challenging for non-experts, as is affirmed by the existence of interior design professionals. Recent research into the automation of this task has yielded methods that can synthesize layouts…
We develop a new optimisation technique that combines multiresolution subdivision surfaces for boundary description with immersed finite elements for the discretisation of the primal and adjoint problems of optimisation. Similar to wavelets…
Designing the topology of three-dimensional structures is a challenging problem due to its memory and time consumption. In this paper, we present a robust and efficient algorithm for solving large-scale 3D topology optimization problems.…
Many uncertainty sets encountered in control systems analysis and design can be expressed in terms of semialgebraic sets, that is as the intersection of sets described by means of polynomial inequalities. Important examples are for instance…
Neural implicit representations have become a popular choice for modeling surfaces due to their adaptability in resolution and support for complex topology. While previous works have achieved impressive reconstruction quality by training on…
Assembling parts into an object is a combinatorial problem that arises in a variety of contexts in the real world and involves numerous applications in science and engineering. Previous related work tackles limited cases with identical unit…
Existing panoramic layout estimation solutions tend to recover room boundaries from a vertically compressed sequence, yielding imprecise results as the compression process often muddles the semantics between various planes. Besides, these…
The main purpose of this survey is to provide an introduction, algebro-topological in nature, to Hirzebuch-type inequalities for plane curve arrangements in the complex projective plane. These inequalities gain more and more interest due to…
The purpose of this paper is twofold. In the first part we concentrate on hyperplane sections of algebraic schemes, and present results for determining when Gr\"obner bases pass to the quotient and when they can be lifted. The main…
We present the first systematic comparison of implicit and explicit Novel View Synthesis methods for space-based 3D object reconstruction, evaluating the role of appearance embeddings. While embeddings improve photometric fidelity by…