Related papers: Improving the Numerical Robustness of Sphere Swept…
This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…
In this paper, we present a robust spherical harmonics approach for the classification of point cloud-based objects. Spherical harmonics have been used for classification over the years, with several frameworks existing in the literature.…
A notorious problem in mathematics and physics is to create a solvable model for random sequential adsorption of non-overlapping congruent spheres in the $d$-dimensional Euclidean space with $d\geq 2$. Spheres arrive sequentially at…
Calibration of devices with different modalities is a key problem in robotic vision. Regular spatial objects, such as planes, are frequently used for this task. This paper deals with the automatic detection of ellipses in camera images, as…
The complexity of nearest-neighbor search dominates the asymptotic running time of many sampling-based motion-planning algorithms. However, collision detection is often considered to be the computational bottleneck in practice. Examining…
Multimodal sensor fusion methods for 3D object detection have been revolutionizing the autonomous driving research field. Nevertheless, most of these methods heavily rely on dense LiDAR data and accurately calibrated sensors which is often…
Line intersection with convex and un-convex polygons or polyhedron algorithms are well known as line clipping algorithms and very often used in computer graphics. Rendering of geometrical problems often leads to ray tracing techniques, when…
Swept volume computation, the determination of regions occupied by moving objects, is essential in graphics, robotics, and manufacturing. Existing approaches either explicitly track surfaces, suffering from robustness issues under complex…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
This paper proposes an enhancement to the ORB-SLAM3 algorithm, tailored for applications on rugged road surfaces. Our improved algorithm adeptly combines feature point matching with optical flow methods, capitalizing on the high robustness…
Fitting concentric geometric objects to digitized data is an important problem in many areas such as iris detection, autonomous navigation, and industrial robotics operations. There are two common approaches to fitting geometric shapes to…
Registration algorithms, such as Iterative Closest Point (ICP), have proven effective in mobile robot localization algorithms over the last decades. However, they are susceptible to failure when a robot sustains extreme velocities and…
The acoustic inverse obstacle scattering problem consists of determining the shape of a domain from measurements of the scattered far field due to some set of incident fields (probes). For a penetrable object with known sound speed, this…
Intersection algorithms are very important in computation of geometrical problems. Algorithms for a line intersection with linear or quadratic surfaces are quite efficient. However, algorithms for a line intersection with other surfaces are…
Cooperative robots can significantly assist people in their productive activities, improving the quality of their works. Collision detection is vital to ensure the safe and stable operation of cooperative robots in productive activities. As…
Point sets matching method is very important in computer vision, feature extraction, fingerprint matching, motion estimation and so on. This paper proposes a robust point sets matching method. We present an iterative algorithm that is…
In the first part of a series of two papers, we present in considerable detail a collision-driven molecular dynamics algorithm for a system of nonspherical particles, within a parallelepiped simulation domain, under both periodic or…
The exponential increase in orbital debris and active satellites will lead to congested orbits, necessitating more frequent collision avoidance maneuvers by satellites. To minimize fuel consumption while ensuring the safety of satellites,…
The main problem is to understand and to find periodic symmetric orbits in the $n$-body problem, in the sense of finding methods to prove or compute their existence, and more importantly to describe their qualitative and quantitative…