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Scalar wave scattering by many small particles of arbitrary shapes with impedance boundary condition is studied. The problem is solved asymptotically and numerically under the assumptions a << d << lambda, where k = 2pi/lambda is the wave…
Most existing approaches for point cloud normal estimation aim to locally fit a geometric surface and calculate the normal from the fitted surface. Recently, learning-based methods have adopted a routine of predicting point-wise weights to…
Shape registration is the process of aligning one 3D model to another. Most previous methods to align shapes with no known correspondences attempt to solve for both the transformation and correspondences iteratively. We present a shape…
Solutions of partial differential equations can often be written as surface integrals having a kernel related to a singular fundamental solution. Special methods are needed to evaluate the integral accurately at points on or near the…
This paper studies the mismatch removal problem, which may serve as the subsequent step of feature matching. Non-rigid deformation makes it difficult to remove mismatches because no parametric transformation can be found. To solve this…
We consider simultaneously identifying the membership and locations of point sources that are convolved with different band-limited point spread functions, from the observation of their superpositions. This problem arises in…
A new algorithm is proposed to accelerate RANSAC model quality calculations. The method is based on partitioning the joint correspondence space, e.g., 2D-2D point correspondences, into a pair of regular grids. The grid cells are mapped by…
We present a unified treatment of the Fourier spectra of spherically symmetric nonlocal diffusion operators. We develop numerical and analytical results for the class of kernels with weak algebraic singularity as the distance between source…
Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Recent works leverage the power of deep learning for registering a pair of point sets. However, unfortunately, deep…
We can use a method called registration to integrate some point clouds that represent the shape of the real world. In this paper, we propose highly accurate and stable registration method. Our method detects keypoints from point clouds and…
Most of existing correlation filter-based tracking approaches only estimate simple axis-aligned bounding boxes, and very few of them is capable of recovering the underlying similarity transformation. To tackle this challenging problem, in…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second order information about rigid-body dynamics in the presence…
Traditional large-scale formation planning either oversimplify the formation representation which leads to poor performance, or they employ complete collaborative relationships, which results in excessive computational load. To achieve…
Feature descriptors of point clouds are used in several applications, such as registration and part segmentation of 3D point clouds. Learning discriminative representations of local geometric features is unquestionably the most important…
We introduce a new class of autoregressive models for spherical time series, where the dimension of the spheres on which the observations of the time series are situated may be finite-dimensional or infinite-dimensional as in the case of a…
The problem of packing equal spheres in a spherical container is a classic global optimization problem, which has attracted enormous studies in academia and found various applications in industry. This problem is computationally…
Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…
We propose fast, exact and efficient algorithms for the convolution of two arbitrary functions on the sphere which speed up computations by a factor \order{\sqrt{N}} compared to present methods where $N$ is the number of pixels. No…
This paper addresses the issue of matching rigid 3D object points with 2D image points through point registration based on maximum likelihood principle in computer simulated images. Perspective projection is necessary when transforming 3D…
The well-known spatial integration schemes in molecular electronic structure theory, immune to cusps and point singularities of some kind at atomic positions, use a set of weighting functions to split the integrand into a sum of…