110,440 research outputs found
Segment representations with small resolution
A segment representation of a graph is an assignment of line segments in 2D
to the vertices in such a way that two segments intersect if and only if the
corresponding vertices are adjacent. Not all graphs have such segment
representations, but they exist, for example, for all planar graphs.
In this note, we study the resolution that can be achieved for segment
representations, presuming the ends of segments must be on integer grid points.
We show that any planar graph (and more generally, any graph that has a
so-called -representation) has a segment representation in a grid of width
and height
Planning Hybrid Driving-Stepping Locomotion on Multiple Levels of Abstraction
Navigating in search and rescue environments is challenging, since a variety
of terrains has to be considered. Hybrid driving-stepping locomotion, as
provided by our robot Momaro, is a promising approach. Similar to other
locomotion methods, it incorporates many degrees of freedom---offering high
flexibility but making planning computationally expensive for larger
environments.
We propose a navigation planning method, which unifies different levels of
representation in a single planner. In the vicinity of the robot, it provides
plans with a fine resolution and a high robot state dimensionality. With
increasing distance from the robot, plans become coarser and the robot state
dimensionality decreases. We compensate this loss of information by enriching
coarser representations with additional semantics. Experiments show that the
proposed planner provides plans for large, challenging scenarios in feasible
time.Comment: In Proceedings of IEEE International Conference on Robotics and
Automation (ICRA), Brisbane, Australia, May 201
Learned versus Hand-Designed Feature Representations for 3d Agglomeration
For image recognition and labeling tasks, recent results suggest that machine
learning methods that rely on manually specified feature representations may be
outperformed by methods that automatically derive feature representations based
on the data. Yet for problems that involve analysis of 3d objects, such as mesh
segmentation, shape retrieval, or neuron fragment agglomeration, there remains
a strong reliance on hand-designed feature descriptors. In this paper, we
evaluate a large set of hand-designed 3d feature descriptors alongside features
learned from the raw data using both end-to-end and unsupervised learning
techniques, in the context of agglomeration of 3d neuron fragments. By
combining unsupervised learning techniques with a novel dynamic pooling scheme,
we show how pure learning-based methods are for the first time competitive with
hand-designed 3d shape descriptors. We investigate data augmentation strategies
for dramatically increasing the size of the training set, and show how
combining both learned and hand-designed features leads to the highest
accuracy
A Note on Plus-Contacts, Rectangular Duals, and Box-Orthogonal Drawings
A plus-contact representation of a planar graph is called -balanced if
for every plus shape , the number of other plus shapes incident to each
arm of is at most , where is the maximum degree
of . Although small values of have been achieved for a few subclasses of
planar graphs (e.g., - and -trees), it is unknown whether -balanced
representations with exist for arbitrary planar graphs.
In this paper we compute -balanced plus-contact representations for
all planar graphs that admit a rectangular dual. Our result implies that any
graph with a rectangular dual has a 1-bend box-orthogonal drawings such that
for each vertex , the box representing is a square of side length
.Comment: A poster related to this research appeared at the 25th International
Symposium on Graph Drawing & Network Visualization (GD 2017
Analysis of Three-Dimensional Protein Images
A fundamental goal of research in molecular biology is to understand protein
structure. Protein crystallography is currently the most successful method for
determining the three-dimensional (3D) conformation of a protein, yet it
remains labor intensive and relies on an expert's ability to derive and
evaluate a protein scene model. In this paper, the problem of protein structure
determination is formulated as an exercise in scene analysis. A computational
methodology is presented in which a 3D image of a protein is segmented into a
graph of critical points. Bayesian and certainty factor approaches are
described and used to analyze critical point graphs and identify meaningful
substructures, such as alpha-helices and beta-sheets. Results of applying the
methodologies to protein images at low and medium resolution are reported. The
research is related to approaches to representation, segmentation and
classification in vision, as well as to top-down approaches to protein
structure prediction.Comment: See http://www.jair.org/ for any accompanying file
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