Related papers: Guaranteed Collision Detection With Toleranced Mot…
We consider geometric collision-detection problems for modular reconfigurable robots. Assuming the nodes (modules) are connected squares on a grid, we investigate the complexity of deciding whether collisions may occur, or can be avoided,…
Unsupervised object detection using deep neural networks is typically a difficult problem with few to no guarantees about the learned representation. In this work we present the first unsupervised object detection method that is…
We focus on the problem of detecting traffic events in a surveillance scenario, including the detection of both vehicle actions and traffic collisions. Existing event detection systems are mostly learning-based and have achieved convincing…
The realization space of geometric constraint systems is given by the vanishing locus of polynomials corresponding to natural geometric constraints. Such geometric constraint systems arise in many real-world scenarios such as structural…
The collision avoidance constraints are prominent as non-convex, non-differentiable, and challenging when defined in optimization-based motion planning problems. To overcome these issues, this paper presents a novel non-conservative…
Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory optimizers may get stuck in local minima due to inherent…
This paper proposes a strategy for efficient geometrical verification in unmanned aerial vehicle (UAV) image matching. First, considering the complex transformation model between correspondence set in the image-space, feature points of…
We present optimal motion planning algorithms which can be used in designing practical systems controlling objects moving in Euclidean space without collisions. Our algorithms are optimal in a very concrete sense, namely, they have the…
This work is in the field of video surveillance including motion detection. The video surveillance is one of essential techniques for automatic video analysis to extract crucial information or relevant scenes in video surveillance systems.…
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…
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…
This paper presents an algorithm for local motion planning in environments populated by moving elliptical obstacles whose velocity, shape and size are fully known but may change with time. We base the algorithm on a collision avoidance…
We revisit the computation of a probability of collision in the context of automotive collision avoidance (also referred to as conflict detection in other contexts). After reviewing existing approaches to the definition and computation of a…
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…
Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from the epipolar constraint and estimate the essential matrix,…
Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movements while avoiding collisions. Human skeletal keypoints are…
This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…
Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However, most of these methods require enforcing non-penetration…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…