Related papers: Polyhedral Collision Detection via Vertex Enumerat…
Visibility plays an important role for decision making in cluttered, uncertain environments. This paper considers the problem of identifying optimal hiding spots for an agent against line-of-sight detection by an adversary whose location is…
Convex hulls are useful as tight bounding proxies for a variety of tasks including collision detection, ray intersection, and distance computation. Unfortunately, the complexity of polyhedral convex hulls grows linearly with their input. We…
This paper introduces an efficient algorithm for computing the best approximation of a given matrix onto the intersection of linear equalities, inequalities and the doubly nonnegative cone (the cone of all positive semidefinite matrices…
In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…
This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…
3D Multi-object tracking (MOT) empowers mobile robots to accomplish well-informed motion planning and navigation tasks by providing motion trajectories of surrounding objects. However, existing 3D MOT methods typically employ a single…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
The problem to compute the vertices of a polytope given by affine inequalities is called vertex enumeration. The inverse problem, which is equivalent by polarity, is called the convex hull problem. We introduce `approximate vertex…
The Vertex Separator Problem for a graph is to find the smallest collection of vertices whose removal breaks the graph into two disconnected subsets that satisfy specified size constraints. In the paper 10.1016/j.ejor.2014.05.042, the…
Given an even number of points in a plane, we are interested in matching all the points by straight line segments so that the segments do not cross. Bottleneck matching is a matching that minimizes the length of the longest segment. For…
Coherent multistatic radio imaging represents a pivotal opportunity for forthcoming wireless networks, which involves distributed nodes cooperating to achieve accurate sensing resolution and robustness. This paper delves into cooperative…
Writing an uncomplicated, robust, and scalable three-dimensional convex hull algorithm is challenging and problematic. This includes, coplanar and collinear issues, numerical accuracy, performance, and complexity trade-offs. While there are…
Segmentation of overlapping convex objects has various applications, for example, in nanoparticles and cell imaging. Often the segmentation method has to rely purely on edges between the background and foreground making the analyzed images…
In this work we present a novel bulk-surface virtual element method (BSVEM) for the numerical approximation of elliptic bulk-surface partial differential equations (BSPDEs) in three space dimensions. The BSVEM is based on the discretisation…
The construction of highly incoherent frames, sequences of vectors placed on the unit hyper sphere of a finite dimensional Hilbert space with low correlation between them, has proven very difficult. Algorithms proposed in the past have…
Line segment detection plays a cornerstone role in computer vision tasks. Among numerous detection methods that have been recently proposed, the ones based on edge drawing attract increasing attention owing to their excellent detection…
Edge detection remains a fundamental yet challenging task in computer vision, especially under varying illumination, noise, and complex scene conditions. This paper introduces a Hybrid Multi-Stage Learning Framework that integrates…
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…
Detecting object-level changes between two images across possibly different views is a core task in many applications that involve visual inspection or camera surveillance. Existing change-detection approaches suffer from three major…
Pedestrian detection is among the most safety-critical features of driver assistance systems for autonomous vehicles. One of the most complex detection challenges is that of partial occlusion, where a target object is only partially…