4 Contributo in Atti di Convegno (Proceeding)

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Exploiting Milano Retinex Contrast to Enhance Images with Strong Changes of Light Intensity

Improving the quality of non uniformly lighted images is particularly hard due to the presence of regions that, having different brightness, requires different degrees of enhancement. The recently published algorithm REK proposes an interesting solution for enhancing images with abrupt changes of light intensity. REK linearly up-scales the image brightness to increase the quality of dark regions and combines the image with up-scaled brightness with the input one to preserve the quality of th...

Abstract Action Scheduling for Optimal Temporal Planning via OMT

Given the model of a system with explicit temporal constraints, optimal temporal planning is the problem of finding a schedule of actions that achieves a certain goal while optimizing an objective function. Recent approaches for optimal planning reduce the problem to a series of queries to an Optimization Modulo Theory (OMT) solver: each query encodes a bounded version of the problem, with additional abstract actions representing an over-approximation of the plans beyond the bound. This techn...

A Meta-Engine Framework for Interleaved Task and Motion Planning using Topological Refinements

Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics community as it significantly enhances robot’s autonomy in real-world applications. Many solutions and formulations exist, but no clear standard representation has emerged. In this paper, we propose a general and open-source framework for modeling and benchm...

Towards Automated BIM and BEM Model Generation using a B-Rep-based Method with Topological Map

In many countries, recent boosts in the construction and renovation sectors and energy efficiency directives are driving a growing interest in the built environment among designers and maintainers. In this context, customized software solutions tailored for Building Information Modelling (BIM) and Building Energy Modelling (BEM) are proving to be indispensable for optimizing operational efficiency within the Architecture, Engineering, Construction, Owner, and Operator (AECOO) sector and for f...

Point Cloud Pre-training with Diffusion Models

Pre-training a model and then fine-tuning it on down-stream tasks has demonstrated significant success in the 2D image and NLP domains. However, due to the unordered and non-uniform density characteristics of point clouds, it is non-trivial to explore the prior knowledge of point clouds and pre-train a point cloud backbone. In this paper, we propose a novel pre-training method called Point cloud Diffusion pre-training (PointDif). We consider the point cloud pre-training task as a conditional ...

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