Related papers: Convex Hull-based Algebraic Constraint for Visual …
Simultaneous Localization and Mapping (SLAM) allows mobile robots to navigate without external positioning systems or pre-existing maps. Radar is emerging as a valuable sensing tool, especially in vision-obstructed environments, as it is…
In this paper, we present a tightly-coupled visual-inertial object-level multi-instance dynamic SLAM system. Even in extremely dynamic scenes, it can robustly optimise for the camera pose, velocity, IMU biases and build a dense 3D…
Image representation is a fundamental task in computer vision. Recently, Gaussian Splatting has emerged as an efficient representation framework, and its extension to 2D image representation enables lightweight, yet expressive modeling of…
Most classical SLAM systems rely on the static scene assumption, which limits their applicability in real world scenarios. Recent SLAM frameworks have been proposed to simultaneously track the camera and moving objects. However they are…
Traditional nearest points methods use all the samples in an image set to construct a single convex or affine hull model for classification. However, strong artificial features and noisy data may be generated from combinations of training…
Chance-constrained programming is a widely used framework for decision-making under uncertainty, yet its mixed-integer reformulations involve nonconvex mixing sets with a knapsack constraint, leading to weak relaxations and computational…
The problem of ensuring constraints satisfaction on the output of machine learning models is critical for many applications, especially in safety-critical domains. Modern approaches rely on penalty-based methods at training time, which do…
This paper proposes a randomized optimization framework for constrained signal reconstruction, where the word "constrained" implies that data-fidelity is imposed as a hard constraint instead of adding a data-fidelity term to an objective…
Building object-level maps can facilitate robot-environment interactions (e.g. planning and manipulation), but objects could often have multiple probable poses when viewed from a single vantage point, due to symmetry, occlusion or…
A novel approach is introduced to a very widely occurring problem, providing a complete, explicit resolution of it: minimisation of a convex quadratic under a general quadratic, equality or inequality, constraint. Completeness comes via…
The choice of scene representation is crucial in both the shape inference algorithms it requires and the smart applications it enables. We present efficient and optimisable multi-class learned object descriptors together with a novel…
We propose $S^3$LAM, a novel RGB-D SLAM system that leverages 2D surfel splatting to achieve highly accurate geometric representations for simultaneous tracking and mapping. Unlike existing 3DGS-based SLAM approaches that rely on 3D…
In recent years, coordinate-based neural implicit representations have shown promising results for the task of Simultaneous Localization and Mapping (SLAM). While achieving impressive performance on small synthetic scenes, these methods…
Traditional attempts for loop closure detection typically use hand-crafted features, relying on geometric and visual information only, whereas more modern approaches tend to use semantic, appearance or geometric features extracted from deep…
Generalized Disjunctive Programming (GDP) provides a natural framework for optimization models that combine logical decisions with nonlinear constraints. The Hull Reformulation (HR) is attractive because it yields tight continuous…
The paper focuses on the algorithm for improving the quality of 3D reconstruction and segmentation in DSP-SLAM by enhancing the RGB image quality. SharpSLAM algorithm developed by us aims to decrease the influence of high dynamic motion on…
Bounding hull, such as convex hull, concave hull, alpha shapes etc. has vast applications in different areas especially in computational geometry. Alpha shape and concave hull are generalizations of convex hull. Unlike the convex hull, they…
This paper introduces a general framework for solving constrained convex quaternion optimization problems in the quaternion domain. To soundly derive these new results, the proposed approach leverages the recently developed generalized…
In this article, a new solution for the convex hull problem has been presented. The convex hull is a widely known problem in computational geometry. As nature is a rich source of ideas in the field of algorithms, the solution has been…
Real algebraic geometry adapts the methods and ideas from (complex) algebraic geometry to study the real solutions to systems of polynomial equations and polynomial inequalities. As it is the real solutions to such systems modeling…