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Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…
Given a Hilbert space and a finite family of operators defined on the space, the common fixed point problem (CFPP) is to find a point in the intersection of the fixed point sets of these operators. Instances of the problem have numerous…
This paper introduces a new algorithm for solving a sub-class of quantified constraint satisfaction problems (QCSP) where existential quantifiers precede universally quantified inequalities on continuous domains. This class of QCSPs has…
Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…
We present a two-level branch-and-bound (BB) algorithm to compute the optimal gripper pose that maximizes a grasp metric in a restricted search space. Our method can take the gripper's kinematics feasibility into consideration to ensure…
The closest pair problem (CPP) is one of the well studied and fundamental problems in computing. Given a set of points in a metric space, the problem is to identify the pair of closest points. Another closely related problem is the fixed…
The aim of the paper is to show algorithms for geometrical manipulations on NURBS surfaces. These include generating NURBS surfaces that pass through given points, calculating the minimum distance to a point and include line to surface and…
In this paper, we extend the idea of using controlled perturbations to enhance the capabilities of active-set prediction for interior point methods for convex Quadratic Programming (QP) problems. Namely, we consider perturbing the…
The purpose of this paper is to propose and analyze a multi-step iterative algorithm to solve a convex optimization problem and a fixed point problem posed on a Hadamard space. The convergence properties of the proposed algorithm are…
An efficient way to get implicit equations of conics on five points and quadrics on nine, using pencils of conics and quadrics, is revealed. Parallel axis right cones intersect on a conic. An example, to show how to place five coplanar…
This paper approaches the integrated lot sizing and scheduling problem (ILSSP), in which non-identical machines work in parallel with non-triangular sequence-dependent setup costs and times, setup carry-over and capacity limitation. The aim…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
We consider simultaneously identifying the membership and locations of point sources that are convolved with different band-limited point spread functions, from the observation of their superpositions. This problem arises in…
This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes to separate the solutions from the…
We present a new mathematical formulation to estimate the intrinsic parameters of a camera in active or robotic platforms. We show that the focal lengths can be estimated using only one point correspondence that relates images taken before…
This paper presents the exact error analysis of point positioning equation used for airborne three-dimensional(3D) imaging sensor. With differential calculus and principles of precision analysis a mathematics formula on the point position…
In this paper, we propose and analyze a fast two-point gradient algorithm for solving nonlinear ill-posed problems, which is based on the sequential subspace optimization method. A complete convergence analysis is provided under the…
Parallel robots (PRs) have singular configurations where the robot gains at least one degree of freedom and loses control. Theoretically, such singularity occurs when the Forward Jacobian-matrix determinant becomes zero (Type II). However,…
We study the set of image tuples arising from fixed cameras observing varying planar 3-dimensional point configurations. We derive a formula for the number of complex critical points of the triangulation problem, which seeks to reconstruct…
In recent years, various means of efficiently detecting changepoints in the univariate setting have been proposed, with one popular approach involving minimising a penalised cost function using dynamic programming. In some situations, these…