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This paper presents an adaptive and intelligent sparse model for digital image sampling and recovery. In the proposed sampler, we adaptively determine the number of required samples for retrieving image based on space-frequency-gradient…
This work proposes a model-reduction approach for the material point method on nonlinear manifolds. Our technique approximates the $\textit{kinematics}$ by approximating the deformation map using an implicit neural representation that…
The Segment Anything Model (SAM) has demonstrated strong and versatile segmentation capabilities, along with intuitive prompt-based interactions. However, customizing SAM for medical image segmentation requires massive amounts of…
Physics simulation is paramount for modeling and utilizing 3D scenes in various real-world applications. However, integrating with state-of-the-art 3D scene rendering techniques such as Gaussian Splatting (GS) remains challenging. Existing…
Swept volume computation, the determination of regions occupied by moving objects, is essential in graphics, robotics, and manufacturing. Existing approaches either explicitly track surfaces, suffering from robustness issues under complex…
A fundamental challenge to sensory processing tasks in perception and robotics is the problem of obtaining data associations across views. We present a robust solution for ascertaining potentially dense surface patch (superpixel)…
Snapshot compressive imaging (SCI) refers to compressive imaging systems where multiple frames are mapped into a single measurement, with video compressive imaging and hyperspectral compressive imaging as two representative applications.…
In this paper, we propose a general sparse decomposition of dynamical systems provided that the vector field and constraint set possess certain sparse structures, which we call subsystems. This notion is based on causal dependence in the…
Sparse depth measurements are widely available in many applications such as augmented reality, visual inertial odometry and robots equipped with low cost depth sensors. Although such sparse depth samples work well for certain applications…
Human motion is a continuous physical process in 3D space, governed by complex dynamic and kinematic constraints. Existing methods typically represent the human pose as an abstract graph structure, neglecting the intrinsic physical…
An important challenge in robotics is understanding the interactions between robots and deformable terrains that consist of granular material. Granular flows and their interactions with rigid bodies still pose several open questions. A…
Neural implicit representations have been explored to enhance visual SLAM algorithms, especially in providing high-fidelity dense map. Existing methods operate robustly in static scenes but struggle with the disruption caused by moving…
Actions of Lie groups on presymplectic manifolds are analyzed, introducing the suitable comomentum and momentum maps. The subsequent theory of reduction of presymplectic dynamical systems with symmetry is studied. In this way, we give a…
We introduce an adaptable kinematic modelling tool called ROHSA-SNAPD, "Spatially Non-parametric Approach to PSF Deconvolution using ROHSA". ROHSA-SNAPD utilises kinematic regularisation to forward model the intrinsic emission-line flux and…
Operating effectively in novel real-world environments requires robotic systems to estimate and interact with previously unseen objects. Current state-of-the-art models address this challenge by using large amounts of training data and…
Magnetic resonance imaging (MRI) nowadays serves as an important modality for diagnostic and therapeutic guidance in clinics. However, the {\it slow acquisition} process, the dynamic deformation of organs, as well as the need for {\it…
3D scene graphs hierarchically represent the environment appropriately organizing different environmental entities in various layers. Our previous work on situational graphs extends the concept of 3D scene graph to SLAM by tightly coupling…
Recent developments in engineering techniques for spatial data collection such as geographic information systems have resulted in an increasing need for methods to analyze large spatial data sets. These sorts of data sets can be found in…
This work aims at the precise and efficient computation of the x-ray projection of an image represented by a linear combination of general shifted basis functions that typically overlap. We achieve this with a suitable adaptation of ray…
Robotic manipulation in unstructured environments requires reliable execution under diverse conditions, yet many state-of-the-art systems still struggle with high-dimensional action spaces, sparse rewards, and slow generalization beyond…