Related papers: Improving the Numerical Robustness of Sphere Swept…
The most widely used algorithm for floating point complex division, known as Smith's method, may fail more often than expected. This document presents two improved complex division algorithms. We present a proof of the robustness of the…
A fundamental problem in robotic perception is matching identical objects or data, with applications such as loop closure detection, place recognition, object tracking, and map fusion. While the problem becomes considerably more challenging…
Sphericity and roundness are fundamental measures used for assessing object uniformity in 2D and 3D images. However, using their strict definition makes computation costly. As both 2D and 3D microscopy imaging datasets grow larger, there is…
This paper proposes an online friction coefficient identification framework for legged robots on slippery terrain. The approach formulates the optimization problem to minimize the sum of residuals between actual and predicted states…
A new algorithm for numerical integration of the rigid-body equations of motion is proposed. The algorithm uses the leapfrog scheme and the quantities involved are angular velocities and orientational variables which can be expressed in…
Most multivariate outlier detection procedures ignore the spatial dependency of observations, which is present in many real data sets from various application areas. This paper introduces a new outlier detection method that accounts for a…
The dynamics of sheared inelastic-hard-sphere systems are studied using non-equilibrium molecular dynamics simulations and direct simulation Monte Carlo. In the molecular dynamics simulations Lees-Edwards boundary conditions are used to…
The rotation robustness property has drawn much attention to point cloud analysis, whereas it still poses a critical challenge in 3D object detection. When subjected to arbitrary rotation, most existing detectors fail to produce expected…
Collision detection via visual fences can significantly enhance the safety of collaborative robotic arms. Existing work typically performs such detection based on pre-deployed stationary cameras outside the robotic arm's workspace. These…
Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through the real-time detection of elliptic and rectangle shape…
This paper analyzes the robustness of recent 3D shape descriptors to SO(3) rotations, something that is fundamental to shape modeling. Specifically, we formulate the task of rotated 3D object instance detection. To do so, we consider a…
Differentiable rendering has received increasing interest for image-based inverse problems. It can benefit traditional optimization-based solutions to inverse problems, but also allows for self-supervision of learning-based approaches for…
Fast and efficient collision detection is essential for motion generation in robotics. In this paper, we propose an efficient collision detection framework based on the Signed Distance Field (SDF) of robots, seamlessly integrated with a…
Simulations of many rigid bodies colliding with each other sometimes yield particularly interesting results if the colliding objects differ significantly in size and are non-spherical. The most expensive part within such a simulation code…
Collision detection plays a key role in the simulation of interacting rigid bodies. However, owing to its computational complexity current methods typically prioritize either maximizing processing speed or fidelity to real-world behaviors.…
The problem of accretion of small particles by a sphere embedded in a mean flow is studied in the case where the particles undergo inelastic collisions with the solid object. The collision efficiency, which gives the flux of particles…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
An $\epsilon$-approximate incidence between a point and some geometric object (line, circle, plane, sphere) occurs when the point and the object lie at distance at most $\epsilon$ from each other. Given a set of points and a set of objects,…
Unsupervised change detection techniques are generally constrained to two multi-band optical images acquired at different times through sensors sharing the same spatial and spectral resolution. This scenario is suitable for a straight…
There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…