Related papers: Generalized k-Cell Decomposition for Visibility Pl…
Real-time occlusion handling is a major problem in outdoor mixed reality system because it requires great computational cost mainly due to the complexity of the scene. Using only segmentation, it is difficult to accurately render a virtual…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…
Identification of local structure in intensive data -- such as time series, images, and higher dimensional processes -- is an important problem in astronomy. Since the data are typically generated by an inhomogeneous Poisson process, an…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
In recent years, there has been a rapid increase in the number of service robots deployed for aiding people in their daily activities. Unfortunately, most of these robots require human input for training in order to do tasks in indoor…
This paper addresses the problem of planning for a robot with a directional obstacle-detection sensor that must move through a cluttered environment. The planning objective is to remain safe by finding a path for the complete robot,…
In this paper we present some new, practical, geometric optimization techniques for computing polygon partitions, 1D and 2D point, interval, square and rectangle covers, as well as 1D and 2D interval and rectangle K-centers. All the…
K-Means clustering algorithm is one of the most commonly used clustering algorithms because of its simplicity and efficiency. K-Means clustering algorithm based on Euclidean distance only pays attention to the linear distance between…
Similarity search based on a distance function in metric spaces is a fundamental problem for many applications. Queries for similar objects lead to the well-known machine learning task of nearest-neighbours identification. Many data…
We present a method for fabricating general models with multi-directional 3D printing systems by printing different model regions along with different directions. The core of our method is a support-effective volume decomposition algorithm…
Change detection (CD) is a fundamental task in Earth observation. While most change detection methods detect all changes, there is a growing need for specialized methods targeting specific changes relevant to particular applications while…
We study the problem of planning paths for a team of robots for visually monitoring an environment. Our work is motivated by surveillance and persistent monitoring applications. We are given a set of target points in a polygonal environment…
This paper studies a multi-robot visibility-based pursuit-evasion problem in which a group of pursuer robots are tasked with detecting an evader within a two dimensional polygonal environment. The primary contribution is a novel formulation…
We present a new approach for redirected walking in static and dynamic scenes that uses techniques from robot motion planning to compute the redirection gains that steer the user on collision-free paths in the physical space. Our first…
In this paper, we propose an efficient clustering technique to solve the problem of clustering in the presence of obstacles. The proposed algorithm divides the spatial area into rectangular cells. Each cell is associated with statistical…
We devise an algorithm for maintaining the visibility polygon of any query point in a dynamic polygonal domain, i.e., as the polygonal domain is modified with vertex insertions and deletions to its obstacles, we update the data structures…
In a multi-robot system, a number of autonomous robots would sense, communicate, and decide to move within a given domain to achieve a common goal. In this paper, we consider a new variant of the pursuit-evasion problem in which the robots…
Let $\mathcal{A}$ be a set of straight lines in the plane (or planes in $\mathbb{R}^3$). The $k$-crossing visibility of a point $p$ on $\mathcal{A}$ is the set $Q$ of points in the elements of $\mathcal{A}$ such that the segment $pq$, where…
This paper presents a novel multimodal perception system for a real open environment. The proposed system includes an embedded computation platform, cameras, ultrasonic sensors, GPS, and IMU devices. Unlike the traditional frameworks, our…
We investigate the problem of finding the visible pieces of a scene of objects from a specified viewpoint. In particular, we are interested in the design of an efficient hidden surface removal algorithm for a scene comprised of iso-oriented…