Related papers: Generating grid maps via the snake model

In this work, we present a novel distributed method for constructing an occupancy grid map of an unknown environment using a swarm of robots with global localization capabilities and limited inter-robot communication. The robots explore the…

This paper focuses on the link scheduling problem in networks where signal delays between nodes are multiples of a time interval. To model such networks, a directed hypergraph is employed, along with an integer matrix that specifies the…

Sketch-based terrain generation seeks to create realistic landscapes for virtual environments in various applications such as computer games, animation and virtual reality. Recently, deep learning based terrain generation has emerged,…

In modern computer vision, images are typically represented as a fixed uniform grid with some stride and processed via a deep convolutional neural network. We argue that deforming the grid to better align with the high-frequency image…

Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…

This paper addresses the problem of traffic prediction in distributed backend systems and proposes a graph neural network based modeling approach to overcome the limitations of traditional models in capturing complex dependencies and…

Using the LP algebraic toolkit, Conway's original topograph is rethought of as a cluster construction, paving the way for a wider topography based on mutation-type local rules. As a remarkable application of such cluster-driven upgrade,…

Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environment. Incorporating semantics provides a richer scene…

The grid firing patterns are thought to provide an efficient intrinsic metric capable of supporting universal spatial metric for mammalian spatial navigation in all environments. However, whether spatial representations of grid cells in the…

We consider the problem of spatial path planning. In contrast to the classical solutions which optimize a new plan from scratch and assume access to the full map with ground truth obstacle locations, we learn a planner from the data in a…

Previously, we proposed a physically-inspired method to construct data points into an effective in-tree (IT) structure, in which the underlying cluster structure in the dataset is well revealed. Although there are some edges in the IT…

Graph representation of objects and their relations in a scene, known as a scene graph, provides a precise and discernible interface to manipulate a scene by modifying the nodes or the edges in the graph. Although existing works have shown…

SLAM (Simultaneous Localisation and Mapping) is a crucial component for robotic systems, providing a map of an environment, the current location and previous trajectory of a robot. While 3D LiDAR SLAM has received notable improvements in…

Treemaps have been widely applied to the visualization of hierarchical data. A treemap takes a weighted tree and visualizes its leaves in a nested planar geometric shape, with sub-regions partitioned such that each sub-region has an area…

Mobile robots frequently navigate on roadmaps, i.e., graphs where edges represent safe motions, in applications such as healthcare, hospitality, and warehouse automation. Often the environment is quasi-static, i.e., it is sufficient to…

While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…

This paper presents Ske2Grid, a new representation learning framework for improved skeleton-based action recognition. In Ske2Grid, we define a regular convolution operation upon a novel grid representation of human skeleton, which is a…

To cope with the high requirements during the computation of semantic segmentations of earth observation imagery, current state-of-the-art pipelines divide the corresponding data into smaller images. Existing methods and benchmark datasets…

Natural and man-made transport webs are frequently dominated by dense sets of nested cycles. The architecture of these networks, as defined by the topology and edge weights, determines how efficiently the networks perform their function.…

Nowadays, in the big data era, social networks, graph databases, knowledge graphs, electronic commerce etc. demand efficient and scalable capability to process an ever increasing volume of graph-structured data. To meet the challenge, two…