相关论文: Trajectory Grouping with Curvature Regularization …

Many robotics applications benefit from being able to compute multiple locally optimal paths in a given configuration space. Examples include path planning for of tethered robots with cable-length constraints, systems involving cables,…

With the recent development of localization and tracking systems for both indoor and outdoor settings, we consider the problem of sensing, representing and analyzing human movement trajectories that we expect to gather in the near future.…

This paper assumes prior detections of multiple targets at each time instant, and uses a graph-based approach to connect those detections across time, based on their position and appearance estimates. In contrast to most earlier works in…

Routing optimization is a relevant problem in many contexts. Solving directly this type of optimization problem is often computationally unfeasible. Recent studies suggest that one can instead turn this problem into one of solving a…

In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…

This paper introduces and demonstrates a computational pipeline for the statistical analysis of shape graph datasets, namely geometric networks embedded in 2D or 3D spaces. Unlike traditional abstract graphs, our purpose is not only to…

Predicting human motion behavior in a crowd is important for many applications, ranging from the natural navigation of autonomous vehicles to intelligent security systems of video surveillance. All the previous works model and predict the…

Segmenting curvilinear structures in medical images is essential for analyzing morphological patterns in clinical applications. Integrating topological properties, such as connectivity, improves segmentation accuracy and consistency.…

We present a structural clustering algorithm for large-scale datasets of small labeled graphs, utilizing a frequent subgraph sampling strategy. A set of representatives provides an intuitive description of each cluster, supports the…

In this paper, we address the problem of computing optimal paths through three consecutive points for the curvature-constrained forward moving Dubins vehicle. Given initial and final configurations of the Dubins vehicle, and a midpoint with…

Faster pathfinding in time-dependent transport networks is an important and challenging problem in navigation systems. There are two main types of transport networks: road networks for car driving and public transport route network. The…

This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…

This paper presents a method for retinal vasculature extraction based on biologically inspired multi-orientation analysis. We apply multi-orientation analysis via so-called invertible orientation scores, modeling the cortical columns in the…

Utilizing recently developed abstract notions of sectional curvature, we introduce a method for constructing a curvature-based geometric profile of discrete metric spaces. The curvature concept that we use here captures the metric relations…

Tracking a point through a video can be a challenging task due to uncertainty arising from visual obfuscations, such as appearance changes and occlusions. Although current state-of-the-art discriminative models excel in regressing long-term…

Minimization of boundary curvature is a classic regularization technique for image segmentation in the presence of noisy image data. Techniques for minimizing curvature have historically been derived from descent methods which could be…

Despite deep convolutional neural networks achieved impressive progress in medical image computing and analysis, its paradigm of supervised learning demands a large number of annotations for training to avoid overfitting and achieving…

Paper maps remain widely used for hiking and sightseeing because they contain curated trails and locally relevant annotations that are often missing from digital navigation applications such as Google Maps. We propose a pipeline to extract…

The precise tracking of micron sized colloidal particles - held in the vicinity of each other using optical tweezers - is an elegant way to gain information about the particle-particle pair interaction potential. The accuracy of the method,…

This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…