相关论文: Trajectory Grouping with Curvature Regularization …

We investigate the Minimum Eccentricity Shortest Path problem in some structured graph classes. It asks for a given graph to find a shortest path with minimum eccentricity. Although it is NP-hard in general graphs, we demonstrate that a…

Accurate camera pose estimation from an image observation in a previously mapped environment is commonly done through structure-based methods: by finding correspondences between 2D keypoints on the image and 3D structure points in the map.…

Even though clustering trajectory data attracted considerable attention in the last few years, most of prior work assumed that moving objects can move freely in an euclidean space and did not consider the eventual presence of an underlying…

Accurate segmentation of tubular, network-like structures, such as vessels, neurons, or roads, is relevant to many fields of research. For such structures, the topology is their most important characteristic; particularly preserving…

Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between fixed start and goal states that minimizes a tunable…

Particle tracing through numerical integration is a well-known approach to generating pathlines for visualization. However, for particle simulations, the computation of pathlines is expensive, since the interpolation method is complicated…

A novel centerline extraction framework is reported which combines an end-to-end trainable multi-task fully convolutional network (FCN) with a minimal path extractor. The FCN simultaneously computes centerline distance maps and detects…

Path generation, the process of converting high-level mission specifications, such as sequences of waypoints from a path planner, into smooth, executable paths, is a fundamental challenge in mobile robotics. Most path following and…

In this work, Transition Probability Matrix (TPM) is proposed as a new method for extracting the features of nodes in the graph. The proposed method uses random walks to capture the connectivity structure of a node's close neighborhood. The…

Graph Retrieval has witnessed continued interest and progress in the past few years. In thisreport, we focus on neural network based approaches for Graph matching and retrieving similargraphs from a corpus of graphs. We explore methods…

Geodesic paths and distances are among the most popular intrinsic properties of 3D surfaces. Traditionally, geodesic paths on discrete polygon surfaces were computed using shortest path algorithms, such as Dijkstra. However, such algorithms…

Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…

Recently, Minimum Cost Multicut Formulations have been proposed and proven to be successful in both motion trajectory segmentation and multi-target tracking scenarios. Both tasks benefit from decomposing a graphical model into an optimal…

Visual place recognition is an important subproblem of mobile robot localization. Since it is a special case of image retrieval, the basic source of information is the pairwise similarity of image descriptors. However, the embedding of the…

Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…

For many important network types (e.g., sensor networks in complex harsh environments and social networks) physical coordinate systems (e.g., Cartesian), and physical distances (e.g., Euclidean), are either difficult to discern or…

Search-based planning with motion primitives is a powerful motion planning technique that can provide dynamic feasibility, optimality, and real-time computation times on size, weight, and power-constrained platforms in unstructured…

We propose a new approach, named PolyMapper, to circumvent the conventional pixel-wise segmentation of (aerial) images and predict objects in a vector representation directly. PolyMapper directly extracts the topological map of a city from…

Accurately segmenting thin tubular structures, such as vessels, nerves, roads or concrete cracks, is a crucial task in computer vision. Standard deep learning-based segmentation loss functions, such as Dice or Cross-Entropy, focus on…

Large-scale vector mapping is important for transportation, city planning, and survey and census. We propose GraphMapper, a unified framework for end-to-end vector map extraction from satellite images. Our key idea is a novel unified…