相关论文: Lipschitz Optimization for Formal Verification of …

We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…

The field of mathematical morphology offers well-studied techniques for image processing. In this work, we view morphological operations through the lens of persistent homology, a tool at the heart of the field of topological data analysis.…

Due to their susceptibility to adversarial perturbations, neural networks (NNs) are hardly used in safety-critical applications. One measure of robustness to such perturbations in the input is the Lipschitz constant of the input-output map…

The desire to use reinforcement learning in safety-critical settings has inspired a recent interest in formal methods for learning algorithms. Existing formal methods for learning and optimization primarily consider the problem of…

Stereo rectification is the determination of two image transformations (or homographies) that map corresponding points on the two images, projections of the same point in the 3D space, onto the same horizontal line in the transformed…

Automatic registration of multimodal remote sensing data (e.g., optical, LiDAR, SAR) is a challenging task due to the significant non-linear radiometric differences between these data. To address this problem, this paper proposes a novel…

Robustness certification against bounded input noise or adversarial perturbations is increasingly important for deployment recurrent neural networks (RNNs) in safety-critical control applications. To address this challenge, we present…

Generative models have attracted considerable attention for their ability to produce novel shapes. However, their application in mechanical design remains constrained due to the limited size and variability of available datasets. This study…

Robustness of neural networks is commonly quantified via local or global Lipschitz constants. However, Lipschitz continuity can be overly coarse or overly restrictive as global robustness measure, failing to capture nuanced, data-dependent…

As an essential part of structure from motion (SfM) and Simultaneous Localization and Mapping (SLAM) systems, motion averaging has been extensively studied in the past years and continues to attract surging research attention. While…

Models for near-rigid shape matching are typically based on distance-related features, in order to infer matches that are consistent with the isometric assumption. However, real shapes from image datasets, even when expected to be related…

Robust long-term visual localization in complex industrial environments is critical for mobile robotic systems. Existing approaches face limitations: handcrafted features are illumination-sensitive, learned features are computationally…

In this paper, we address the challenge of Multi-Object Tracking (MOT) in moving Unmanned Aerial Vehicle (UAV) scenarios, where irregular flight trajectories, such as hovering, turning left/right, and moving up/down, lead to significantly…

As deep neural networks (DNNs) are becoming the prominent solution for many computational problems, the aviation industry seeks to explore their potential in alleviating pilot workload and in improving operational safety. However, the use…

Removing perspective distortion from hand held camera captured document images is one of the primitive tasks in document analysis, but unfortunately, no such method exists that can reliably remove the perspective distortion from document…

Abstracting neural networks with constraints they impose on their inputs and outputs can be very useful in the analysis of neural network classifiers and to derive optimization-based algorithms for certification of stability and robustness…

Training-free camera control for pretrained flow-matching video generators is a partial-observation inverse problem: a depth-warped guidance video supplies noisy evidence on a subset of latent sites, which the sampler must reconcile with…

Due to their affordable, low mass, and small dimensions, uncooled microbolometer-based thermal focal plane arrays (UC-FPAs) are useful for long-wave infrared (LWIR)imaging applications. However, in outdoor conditions typical in agricultural…

Robotic systems demand accurate and comprehensive 3D environment perception, requiring simultaneous capture of photo-realistic appearance (optical), precise layout shape (geometric), and open-vocabulary scene understanding (semantic).…

Neural networks hold great potential to act as approximate models of nonlinear dynamical systems, with the resulting neural approximations enabling verification and control of such systems. However, in safety-critical contexts, the use of…