Related papers: Generalized k-Cell Decomposition for Visibility Pl…
We present a real-time algorithm that finds the Penetration Depth (PD) between general polygonal models based on iterative and local optimization techniques. Given an in-collision configuration of an object in configuration space, we find…
Differentiable simulation is a promising toolkit for fast gradient-based policy optimization and system identification. However, existing approaches to differentiable simulation have largely tackled scenarios where obtaining smooth…
In this work, we aim to improve the 3D reasoning ability of Transformers in multi-view 3D human pose estimation. Recent works have focused on end-to-end learning-based transformer designs, which struggle to resolve geometric information…
With the advent of autonomous robots with two- and three-dimensional scanning capabilities, classical visibility-based exploration methods from computational geometry have gained in practical importance. However, real-life laser scanning of…
Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem,…
In this paper we analyze a variant of the pursuit-evasion game on a graph $G$ where the intruder occupies a vertex, is allowed to move to adjacent vertices or remain in place, and is 'invisible' to the searcher, meaning that the searcher…
Clustering is a fundamental unsupervised learning approach. Many clustering algorithms -- such as $k$-means -- rely on the euclidean distance as a similarity measure, which is often not the most relevant metric for high dimensional data…
We introduce k-planes, a white-box model for radiance fields in arbitrary dimensions. Our model uses d choose 2 planes to represent a d-dimensional scene, providing a seamless way to go from static (d=3) to dynamic (d=4) scenes. This planar…
The well-known \textsc{Watchman Route} problem seeks a shortest route in a polygonal domain from which every point of the domain can be seen. In this paper, we study the cooperative variant of the problem, namely the \textsc{$k$-Watchmen…
We propose an attention mechanism for 3D medical image segmentation. The method, named segmentation-by-detection, is a cascade of a detection module followed by a segmentation module. The detection module enables a region of interest to…
Solar photovoltaic (PV) modules are prone to damage during manufacturing, installation and operation which reduces their power conversion efficiency. This diminishes their positive environmental impact over the lifecycle. Continuous…
Motion, measured via optical flow, provides a powerful cue to discover and learn objects in images and videos. However, compared to using appearance, it has some blind spots, such as the fact that objects become invisible if they do not…
The design and implementation of theoretically-sound robot motion planning algorithms is challenging. Within the framework of resolution-exact algorithms, it is possible to exploit soft predicates for collision detection. The design of soft…
Feasibility problem aims to find a common point of two or more closed (convex) sets whose intersection is nonempty. In the literature, projection based algorithms are widely adopted to solve the problem, such as the method of alternating…
Current methods for depth map prediction from monocular images tend to predict smooth, poorly localized contours for the occlusion boundaries in the input image. This is unfortunate as occlusion boundaries are important cues to recognize…
Video camouflaged object detection (VCOD) is challenging due to dynamic environments. Existing methods face two main issues: (1) SAM-based methods struggle to separate camouflaged object edges due to model freezing, and (2) MLLM-based…
At early times dark matter has a thermal velocity dispersion of unknown amplitude which, for warm dark matter models, can influence the formation of nonlinear structure on observable scales. We propose a new scheme to simulate cosmologies…
Neural representations are not unique objects. Even when two systems realize the same downstream computation, their hidden coordinates may differ by reparameterization. A probe family intended to reveal structure already present in a…
k-medoids algorithm is a partitional, centroid-based clustering algorithm which uses pairwise distances of data points and tries to directly decompose the dataset with $n$ points into a set of $k$ disjoint clusters. However, k-medoids…
Boundary detection is essential for a variety of computer vision tasks such as segmentation and recognition. In this paper we propose a unified formulation and a novel algorithm that are applicable to the detection of different types of…