Related papers: A Hamiltonian, post-Born, three-dimensional, on-th…
We model weak gravitational lensing of light by large-scale structure using ray tracing through N-body simulations. The method is described with particular attention paid to numerical convergence. We investigate some of the key…
We present a new galaxy cluster lens modeling approach, hybrid-Lenstool, that is implemented in the publicly available modeling software Lenstool. hybrid-Lenstool combines a parametric approach to model the core of the cluster, and a…
This paper presents DLL, a fast direct map-based localization technique using 3D LIDAR for its application to aerial robots. DLL implements a point cloud to map registration based on non-linear optimization of the distance of the points and…
Accurate determination of particle track reconstruction parameters will be a major challenge for the High Luminosity Large Hadron Collider (HL-LHC) experiments. The expected increase in the number of simultaneous collisions at the HL-LHC…
Subsampled Randomized Hadamard Transform (SRHT), a popular random projection method that can efficiently project a $d$-dimensional data into $r$-dimensional space ($r \ll d$) in $O(dlog(d))$ time, has been widely used to address the…
Routing problems such as Hamiltonian Path Problem (HPP), seeks a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with Probabilistic Terminals (HPP-PT), where each vertex has a…
In this work, we use multi-view aerial images to reconstruct the geometry, lighting, and material of facades using neural signed distance fields (SDFs). Without the requirement of complex equipment, our method only takes simple RGB images…
Gravitational lensing constitutes one of the most direct observational manifestations of spacetime curvature and provides a powerful probe of compact astrophysical objects. In this work, we present a comprehensive analysis of the bending of…
This paper presents a set of simple and intuitive robot collision detection algorithms that show substantial scaling improvements for high geometric complexity and large numbers of collision queries by leveraging hardware-accelerated ray…
Mutual localization serves as the foundation for collaborative perception and task assignment in multi-robot systems. Effectively utilizing limited onboard sensors for mutual localization between marker-less robots is a worthwhile goal.…
While image registration has been studied in remote sensing community for decades, registering multimodal data [e.g., optical, LiDAR, SAR, and map] remains a challenging problem because of significant nonlinear intensity differences between…
This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…
Cosmological simulations are essential for inferring cosmological and galaxy population properties based on forward-modelling, but this typically requires finding the population of (sub)haloes and galaxies that they contain. The properties…
We consider the problem of localizing relevant subsets of non-rigid geometric shapes given only a partial 3D query as the input. Such problems arise in several challenging tasks in 3D vision and graphics, including partial shape similarity,…
We apply object detection techniques based on deep convolutional blocks to end-to-end jet identification and reconstruction tasks encountered at the CERN Large Hadron Collider (LHC). Collision events produced at the LHC and represented as…
We present a sampling-based framework for multi-robot motion planning which combines an implicit representation of a roadmap with a novel approach for pathfinding in geometrically embedded graphs tailored for our setting. Our pathfinding…
We have developed a new three-dimensional algorithm, based on the standard P$^3$M method, for computing deflections due to weak gravitational lensing. We compare the results of this method with those of the two-dimensional planar approach,…
Gravitational lensing directly measures mass density fluctuations along the lines of sight to very distant objects. No assumptions need to be made concerning bias, the ratio of fluctuations in galaxy density to mass density. Hence, lensing…
In this work we present the first results from a new ray-tracing tool to calculate cosmological distances in the context of fully nonlinear general relativity. We use this tool to study the ability of the general cosmographic representation…
The unprecedented number of gravitational lenses expected from new-generation facilities such as the ESA Euclid telescope and the Vera Rubin Observatory makes it crucial to rethink our classical approach to lens-modelling. In this paper, we…