Related papers: An algorithm for accurate and simple-looking metap…

Representing a scanned map of the real environment as a topological structure is an important research topic in robotics. Since topological representations of maps save a huge amount of map storage space and online computing time, they are…

We formulate and solve a class of finite-time transport and mixing problems in the set-oriented framework. The aim is to obtain optimal discrete-time perturbations in nonlinear dynamical systems to transport a specified initial measure on…

A large number of real-world graphs or networks are inherently heterogeneous, involving a diversity of node types and relation types. Heterogeneous graph embedding is to embed rich structural and semantic information of a heterogeneous…

Weight space learning is an emerging paradigm in the deep learning community. The primary goal of weight space learning is to extract informative features from a set of parameters using specially designed neural networks, often referred to…

Mesh models are a promising approach for encoding the structure of 3D objects. Current mesh reconstruction systems predict uniformly distributed vertex locations of a predetermined graph through a series of graph convolutions, leading to…

We present the algebraic representation and basic algorithms for MultiAspect Graphs (MAGs). A MAG is a structure capable of representing multilayer and time-varying networks, as well as higher-order networks, while also having the property…

Accurate localization is of crucial importance for autonomous driving tasks. Nowadays, we have seen a lot of sensor-rich vehicles (e.g. Robo-taxi) driving on the street autonomously, which rely on high-accurate sensors (e.g. Lidar and RTK…

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…

We consider several basic questions pertaining to the geometry of image of a general quadratic map. In general the image of a quadratic map is non-convex, although there are several known classes of quadratic maps when the image is convex.…

Graph analytics elicits insights from large graphs to inform critical decisions for business, safety and security. Several large-scale graph processing frameworks feature efficient runtime systems; however, they often provide programming…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

Mapping is crucial for spatial reasoning, planning and robot navigation. Existing approaches range from metric, which require precise geometry-based optimization, to purely topological, where image-as-node based graphs lack explicit…

Factor graphs are graphical models used to represent a wide variety of problems across robotics, such as Structure from Motion (SfM), Simultaneous Localization and Mapping (SLAM) and calibration. Typically, at their core, they have an…

With the increased complexity of power systems due to the integration of smart grid technologies and renewable energy resources, more frequent changes have been introduced to system status, and the traditional serial mode of state…

In this paper we propose an approach for computing multiple high-quality near-isometric dense correspondences between a pair of 3D shapes. Our method is fully automatic and does not rely on user-provided landmarks or descriptors. This…

Designing continuous trajectories whose time-averaged occupancy provably matches a prescribed spatial density (the \emph{ergodic coverage} problem) is central to UAV-assisted data collection and sensing, robotic exploration, and mobile…

We present a novel local-global feature fusion framework for body-weight exercise recognition with floor-based dynamic pressure maps. One step further from the existing studies using deep neural networks mainly focusing on global feature…

The Maximum Weight Independent Set problem is a fundamental NP-hard problem in combinatorial optimization with several real-world applications. Given an undirected vertex-weighted graph, the problem is to find a subset of the vertices with…

Maps provide robots with crucial environmental knowledge, thereby enabling them to perform interactive tasks effectively. Easily accessing accurate abstract-to-detailed geometric and semantic concepts from maps is crucial for robots to make…

Neural representations for 3D meshes are emerging as an effective solution for compact storage and efficient processing. Existing methods often rely on neural overfitting, where a coarse mesh is stored and progressively refined through…