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Convolutional Neural Networks (CNNs) have recently been shown to excel at performing visual place recognition under changing appearance and viewpoint. Previously, place recognition has been improved by intelligently selecting relevant…

We present a new 3D point-based detector model, named Shift-SSD, for precise 3D object detection in autonomous driving. Traditional point-based 3D object detectors often employ architectures that rely on a progressive downsampling of…

We present a 3D object detection method that uses regressed descriptors of locally-sampled RGB-D patches for 6D vote casting. For regression, we employ a convolutional auto-encoder that has been trained on a large collection of random local…

Density-functional theory (DFT) has revolutionized computer simulations in chemistry and material science. A faithful implementation of the theory requires self-consistent calculations. However, this effort involves repeatedly diagonalizing…

We propose an autofocusing algorithm to obtain, relatively accurately, the 3D position of each particle, particularly its axial location, and particle number of a dense transparent particle solution via its hologram. First, morphological…

In this paper, we revisit the distributed coverage control problem with multiple robots on both metric graphs and in non-convex continuous environments. Traditionally, the solutions provided for this problem converge to a locally optimal…

Sampling-based motion planning algorithms such as RRT* are well-known for their ability to quickly find an initial solution and then converge to the optimal solution asymptotically. However, the convergence rate can be slow for…

Large scale Density Functional Theory (DFT) based electronic structure calculations are highly time consuming and scale poorly with system size. While semi-empirical approximations to DFT result in a reduction in computational time versus…

6D object pose tracking has been extensively studied in the robotics and computer vision communities. The most promising solutions, leveraging on deep neural networks and/or filtering and optimization, exhibit notable performance on…

A fast and accurate algorithm is presented for registering scans from an RGB-D camera on a pan-tilt platform. The pan-tilt RGB-D camera rotates and scans the entire scene in an automated fashion. The proposed algorithm exploits the movement…

Online reconstruction based on RGB-D sequences has thus far been restrained to relatively slow camera motions (<1m/s). Under very fast camera motion (e.g., 3m/s), the reconstruction can easily crumble even for the state-of-the-art methods.…

Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…

Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…

We present a new supervised image classification method applicable to a broad class of image deformation models. The method makes use of the previously described Radon Cumulative Distribution Transform (R-CDT) for image data, whose…

This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine high-resolution cameras and two 32-beam 3D Lidars were used…

This work develops a fast, memory-efficient, and general algorithm for accelerated/undersampled dynamic MRI by assuming an approximate LR model on the matrix formed by the vectorized images of the sequence. By general, we mean that our…

Low-rank optimization has emerged as a promising direction in training large language models (LLMs) to improve running time and reduce the memory usage of adaptive optimizers by constraining learning to a lower-dimensional space. Prior work…

In computer vision, the estimation of the fundamental matrix is a basic problem that has been extensively studied. The accuracy of the estimation imposes a significant influence on subsequent tasks such as the camera trajectory…

Object counting and localization are key steps for quantitative analysis in large-scale microscopy applications. This procedure becomes challenging when target objects are overlapping, are densely clustered, and/or present fuzzy boundaries.…

Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…