相关论文: Globally optimal vertical direction estimation in …
Vector-based algorithms are novel algorithms in optimal any-angle path planning that are motivated by bug algorithms, bypassing free space by directly conducting line-of-sight checks between two queried points, and searching along obstacle…
Computing the exact optimal experimental design has been a longstanding challenge in various scientific fields. This problem, when formulated using a specific information function, becomes a mixed-integer nonlinear programming (MINLP)…
Autonomous platforms operating in the oceans require accurate navigation to successfully complete their mission. In this regard, the initial heading estimation accuracy and the time required to achieve it play a critical role. The initial…
In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…
This paper tackles a 2D architecture vectorization problem, whose task is to infer an outdoor building architecture as a 2D planar graph from a single RGB image. We provide a new benchmark with ground-truth annotations for 2,001 complex…
Traditional monocular Visual Simultaneous Localization and Mapping (vSLAM) systems can be divided into three categories: those that use features, those that rely on the image itself, and hybrid models. In the case of feature-based methods,…
When a team of agents, such as unmanned aerial/underwater vehicles, are operating in $3$-dimensional space, their coordinated action in pursuit of a cooperative task generally requires all agents to either share a common coordinate system…
In this paper, we formally analyze global convergence in the realm of distributed consensus optimization. Current solutions have explored such analysis, particularly focusing on consensus alternating direction method of multipliers (CADMM),…
In this paper, we address the novel, highly challenging problem of estimating the layout of a complex urban driving scenario. Given a single color image captured from a driving platform, we aim to predict the bird's-eye view layout of the…
A minimum Manhattan distance (MMD) approach to multiple criteria decision making in multiobjective optimization problems (MOPs) is proposed. The approach selects the final solution corresponding with a vector that has the MMD from a…
Estimation of Markov Random Field and covariance models from high-dimensional data represents a canonical problem that has received a lot of attention in the literature. A key assumption, widely employed, is that of {\em sparsity} of the…
Aerial Vision-and-Language Navigation (Aerial VLN) aims to obtain an unmanned aerial vehicle agent to navigate aerial 3D environments following human instruction. Compared to ground-based VLN, aerial VLN requires the agent to decide the…
Many problems in machine learning involve calculating correspondences between sets of objects, such as point clouds or images. Discrete optimal transport provides a natural and successful approach to such tasks whenever the two sets of…
Traditional Direction of Arrival (DOA) estimation methods struggle to simultaneously address three physical constraints in Ultra-Wideband (UWB) electromagnetic sensing: spatial undersampling, asynchronous array phase, and beam squint.…
This paper presents a practical method for finding the globally optimal solution to the sum-of-ratios problem arising in image processing, engineering and management. Unlike traditional methods which may get trapped in local minima due to…
Bimanual manipulation requires reasoning about where to interact with an object and which arm should perform each action, a joint affordance localization and arm allocation problem that geometry-only planners cannot resolve without semantic…
Normal estimation for unstructured point clouds is an important task in 3D computer vision. Current methods achieve encouraging results by mapping local patches to normal vectors or learning local surface fitting using neural networks.…
In this work, we introduce the novel problem of identifying dense canonical 3D coordinate frames from a single RGB image. We observe that each pixel in an image corresponds to a surface in the underlying 3D geometry, where a canonical frame…
Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…
The vertical trajectory optimization for the en route descent phase is studied in the presence of both along track and cross winds, which are both modeled as functions of altitude. The flight range covers some portion of a cruise segment…