Related papers: PHODCOS: Pythagorean Hodograph-based Differentiabl…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
We present CPO, a fast and robust algorithm that localizes a 2D panorama with respect to a 3D point cloud of a scene possibly containing changes. To robustly handle scene changes, our approach deviates from conventional feature point…
Solving Algebra Problems with Geometry Diagrams (APGDs) is still a challenging problem because diagram processing is not studied as intensively as language processing. To work against this challenge, this paper proposes a hologram reasoning…
Many standard structural quantities, such as order parameters and correlation functions, exist for common condensed matter systems, such as spherical and rod-like particles. However, these structural quantities are often insufficient for…
A framework based on iterative coordinate minimization (CM) is developed for stochastic convex optimization. Given that exact coordinate minimization is impossible due to the unknown stochastic nature of the objective function, the crux of…
In this paper, we consider the general problem of obstacle avoidance based on dynamical system. The modulation matrix is developed by introducing orthogonal coordinates, which makes the modulation matrix more reasonable. The new…
We provide an elementary derivation of an orthogonal coordinate system for boundary layers around evolving smooth surfaces and curves based on the signed-distance function. We go beyond previous works on the signed-distance function and…
An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…
It is shown that $N$ points on a real algebraic curve of degree $n$ in $\mathbb{R}^d$ always determine $\gtrsim_{n,d}N^{1+\frac{1}{4}}$ distinct distances, unless the curve is a straight line or the closed geodesic of a flat torus. In the…
Several aspects of managing a sensor network (e.g., motion planning for data mules, serial data fusion and inference) benefit once the network is linearized to a path. The linearization is often achieved by constructing a space filling…
In complex systems (e.g., communication, transportation, and biological networks), high robustness ensures sustained functionality and stability even when resisting attacks. However, the inherent structure complexity and the…
The attitude dynamics of aircraft and spacecraft exhibit significantly nonlinear behaviour. In spacecraft, torque is generated through reaction wheels and control moment gyros. In aircraft, torque is generated using lift on control…
We develop a deep learning algorithm for contour detection with a fully convolutional encoder-decoder network. Different from previous low-level edge detection, our algorithm focuses on detecting higher-level object contours. Our network is…
In this paper we consider the problem of constructing numerical algorithms for approximating of convex compact bodies in d-dimensional Euclidean space by polytopes with any given accuracy. It is well known that optimal with respect to the…
This paper brings together the concepts of navigation transformation and harmonic functions to form navigation functions that are correct-by-construction in the sense that no tuning is required. The form of the navigation function is…
The homotopy continuation method has been widely used in solving parametric systems of nonlinear equations. But it can be very expensive and inefficient due to singularities during the tracking even though both start and end points are…
We consider a strongly heterogeneous medium saturated by an incompressible viscous fluid as it appears in geomechanical modeling. This poroelasticity problem suffers from rapidly oscillating material parameters, which calls for a thorough…
We propose in this paper a tracking algorithm which is able to adapt itself to different scene contexts. A feature pool is used to compute the matching score between two detected objects. This feature pool includes 2D, 3D displacement…
Registration of optical and synthetic aperture radar (SAR) remote sensing images serves as a critical foundation for image fusion and visual navigation tasks. This task is particularly challenging because of their modal discrepancy,…
This paper presents the first purely numerical (i.e., non-algebraic) subdivision algorithm for the isotopic approximation of a simple arrangement of curves. The arrangement is "simple" in the sense that any three curves have no common…