Related papers: Fast, Robust, Permutation-and-Sign Invariant SO(3)…

This paper proposes a new test for a change point in the mean of high-dimensional data based on the spatial sign and self-normalization. The test is easy to implement with no tuning parameters, robust to heavy-tailedness and theoretically…

We propose three novel metrics for evaluating the accuracy of a set of estimated camera poses given the ground truth: Translation Alignment Score (TAS), Rotation Alignment Score (RAS), and Pose Alignment Score (PAS). The TAS evaluates the…

We present a solution to the problem of spatio-temporal calibration for event cameras mounted on an onmi-directional vehicle. Different from traditional methods that typically determine the camera's pose with respect to the vehicle's body…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

Learning about the three-dimensional world from two-dimensional images is a fundamental problem in computer vision. An ideal neural network architecture for such tasks would leverage the fact that objects can be rotated and translated in…

This work proposes a nonlinear stochastic filter evolved on the Special Orthogonal Group SO(3) as a solution to the attitude filtering problem. One of the most common potential functions for nonlinear deterministic attitude observers is…

Point Group (PG) symmetries play a fundamental role in many aspects of theoretical chemistry and computational materials science. With the objective to automatize the search of PG symmetry operations of generic atomic clusters, we present a…

Self-supervised learning (SSL) typically learns representations invariant to semantic-preserving augmentations. While effective for recognition, enforcing strong invariance can suppress transformation-dependent structure that is useful for…

Image registration is a fundamental medical image analysis task. Ideally, registration should focus on aligning semantically corresponding voxels, i.e., the same anatomical locations. However, existing methods often optimize similarity…

In this paper, we investigate permutation rotation-symmetric (shift-invariant) vectorial Boolean functions on $n$ bits that are liftings from Boolean functions on $k$ bits, for $k\leq n$. These functions generalize the well-known map used…

Autonomous neutron spectroscopy must solve three distinct tasks: detection (where is the signal?), inference (which Hamiltonian governs it?), and refinement (what are the parameters?). No single controller solves all three equally well. We…

This paper presents a novel 3D mapping robot with an omnidirectional field-of-view (FoV) sensor suite composed of a non-repetitive LiDAR and an omnidirectional camera. Thanks to the non-repetitive scanning nature of the LiDAR, an automatic…

We develop a novel sampling theorem for functions defined on the three-dimensional rotation group SO(3) by connecting the rotation group to the three-torus through a periodic extension. Our sampling theorem requires $4L^3$ samples to…

We revisit the problem of permuting an array of length $n$ according to a given permutation in place, that is, using only a small number of bits of extra storage. Fich, Munro and Poblete [FOCS 1990, SICOMP 1995] obtained an elegant…

This article dives into the use of a 3-RRR Spherical Parallel Manipulator (SPM) for the purpose of inertial Line Of Sight (LOS) stabilization. Such a parallel robot provides three Degrees of Freedom (DOF) in orientation and is studied from…

Estimating the 3DoF rotation from a single RGB image is an important yet challenging problem. Probabilistic rotation regression has raised more and more attention with the benefit of expressing uncertainty information along with the…

This study tackles the representative yet challenging contact-rich peg-in-hole task of robotic assembly, using a soft wrist that can operate more safely and tolerate lower-frequency control signals than a rigid one. Previous studies often…

The permutation model is a classical spin system where elements of the symmetric group interact with one another. The partition function of this model is directly related to the entanglement structure of random quantum circuits and random…

We introduce a model of Dirac fermions in 2+1 dimensions with a semimetallic, a quantum spin-Hall insulating (QSHI), and an s-wave superconducting (SSC) phase. The phase diagram features a multicritical point at which all three phases meet…

Non-rigid registration is challenging because it is ill-posed with high degrees of freedom and is thus sensitive to noise and outliers. We propose a robust non-rigid registration method using reweighted sparsities on position and…