arXiv subjects

Joseph Reid

Publications and source records attributed to Joseph Reid.

4 recordsLinked to original sources

arXiv2026

WildCross: A Cross-Modal Large Scale Benchmark for Place Recognition and Metric Depth Estimation in Natural Environments

Recent years have seen a significant increase in demand for robotic solutions in unstructured natural environments, alongside growing interest in bridging 2D and 3D scene understanding. However, existing robotics datasets are predominantly captured in structured urban environments, making them inadequate for addressing the challenges posed by complex, unstructured natural settings. To address this gap, we propose WildCross, a cross-modal benchmark for place recognition and metric depth estimation in large-scale natural environments. WildCross comprises over 476K sequential RGB frames with semi-dense depth and surface normal annotations, each aligned with accurate 6DoF poses and synchronized dense lidar submaps. We conduct comprehensive experiments on visual, lidar, and cross-modal place recognition, as well as metric depth estimation, demonstrating the value of WildCross as a challenging benchmark for multi-modal robotic perception tasks. We provide access to the code repository and dataset at https://csiro-robotics.github.io/WildCross.

cs.CV↗

arXiv2020

Modules determined by their composition factors in higher homological algebra

ABSTRACT. Let $\Phi$ be a finite dimensional $K$-algebra and let $\mathscr{C} = \textrm{mod}\: \Phi$ be the abelian category of finitely generated right $\Phi$-modules. In their 1985 paper ``Modules determined by their composition factors'', Auslander and Reiten showed that under certain conditions modules in $\textrm{mod}\: \Phi$ are determined by their composition factors, and show an important formula related to the Auslander-Reiten translation. Let $\mathscr{T}$ be a $d$-cluster tilting subcategory of $\mathscr{C}$, which by definition is also $d$-abelian. In this paper we will define the Grothendieck group for a $d$-abelian category, and show that the Grothendieck groups of $\mathscr{C}$ and $\mathscr{T}$ are isomorphic. We show also that under certain conditions, the indecomposable objects of $\mathscr{T}$ are determined up to isomorphism by their composition factors in $\mathscr{C}$. Finally, we generalise the formula from Auslander and Reiten involving the higher dimensional Auslander-Reiten translation.

math.RT↗

arXiv2019

Tropical Duality in $(d+2)$-angulated categories

Let $\mathscr{C}$ be a $2$-Calabi-Yau triangulated category with two cluster tilting subcategories $\mathscr{T}$ and $\mathscr{U}$. Results by Demonet-Iyama-Jasso and J{\o}rgensen-Yakimov known as tropical duality says that the index with respect to $\mathscr{T}$ provides an isomorphism between the split Grothendieck groups of $\mathscr{U}$ and $\mathscr{T}$. We also have the notion of $c$-vectors, which using tropical duality have been proven to have sign coherence, and to be recoverable as dimension vectors of modules in a module category. The notion of triangulated categories extends to the notion of $(d+2)$-angulated categories. Using a higher analogue of cluster tilting objects, this paper generalises tropical duality to higher dimensions. This implies that these basic cluster tilting objects have the same number of indecomposable summands. It also proves that under conditions of mutability, $c$-vectors in the $(d+2)$-angulated case have sign coherence, and shows formulae for their computation. Finally, it proves that under the condition of mutability, the $c$-vectors are recoverable as dimension vectors of modules in a module category.

math.RT↗

arXiv2019

Indecomposable objects determined by their index in Higher Homological Algebra

Let $\mathscr{C}$ be a 2-Calabi-Yau triangulated category, and let $\mathscr{T}$ be a cluster tilting subcategory of $\mathscr{C}$. An important result from Dehy and Keller tells us that a rigid object $c \in \mathscr{C}$ is uniquely defined by its index with respect to $\mathscr{T}$. The notion of triangulated categories extends to the notion of $(d+2)$-angulated categories. Thanks to a paper by Oppermann and Thomas, we now have a definition for cluster tilting subcategories in higher dimensions. This paper proves that under a technical assumption, an indecomposable object in a $(d+2)$-angulated category is uniquely defined by its index with respect to a higher dimensional cluster tilting subcategory. We also demonstrate an application of this result in higher dimensional cluster categories.

math.RT↗