Related papers: Hand-Eye and Robot-World Calibration by Global Pol…
In this paper, we consider the problem of generating inspection paths for robots. These paths should allow an attached measurement device to perform high-quality measurements. We formally show that generating robot paths, while maximizing…
This paper discusses a special kind of convex constrained optimization problem, whose constraints consist of box inequalities and linear equalities. For this problem, in addition to general optimization algorithms such as exact penalty…
The motivation of this work is to illustrate the efficiency of some often overlooked alternatives to deal with optimization problems in systems and control. In particular, we will consider a problem for which an iterative linear matrix…
Dynamic multi-person mesh recovery has broad applications in sports broadcasting, virtual reality, and video games. However, current multi-view frameworks rely on a time-consuming camera calibration procedure. In this work, we focus on…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
In view of contemporary panoramic camera-laser scanner system, the traditional calibration method is not suitable for panoramic cameras whose imaging model is extremely nonlinear. The method based on statistical optimization has the…
Learning generalizable visual representations across different embodied environments is essential for effective robotic manipulation in real-world scenarios. However, the limited scale and diversity of robot demonstration data pose a…
The most prevalent routine for camera calibration is based on the detection of well-defined feature points on a purpose-made calibration artifact. These could be checkerboard saddle points, circles, rings or triangles, often printed on a…
We study an optimization problem in which the objective is given as a sum of logarithmic-polynomial functions. This formulation is motivated by statistical estimation principles such as maximum likelihood estimation, and by loss functions…
Aligning partially overlapping point sets where there is no prior information about the value of the transformation is a challenging problem in computer vision. To achieve this goal, we first reduce the objective of the robust point…
Existing calibration methods occasionally fail for large field-of-view cameras due to the non-linearity of the underlying problem and the lack of good initial values for all parameters of the used camera model. This might occur because a…
For robots to handle the numerous factors that can affect them in the real world, they must adapt to changes and unexpected events. Evolutionary robotics tries to solve some of these issues by automatically optimizing a robot for a specific…
Lifting methods allow to transform hard variational problems such as segmentation and optical flow estimation into convex problems in a suitable higher-dimensional space. The lifted models can then be efficiently solved to a global optimum,…
Grasp force synthesis is a non-convex optimization problem involving constraints that are bilinear. Traditional approaches to this problem involve general-purpose gradient-based nonlinear optimization and semi-definite programming. With a…
We propose a method for automatic calibration of a traffic surveillance camera with wide-angle lenses. Video footage of a few minutes is sufficient for the entire calibration process to take place. This method takes in the height of the…
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…
Optimization problems with norm-bounding constraints arise in a variety of applications, including portfolio optimization, machine learning, and feature selection. A common approach to these problems involves relaxing the norm constraint…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
Optimization of frame structures is formulated as a~non-convex optimization problem, which is currently solved to local optimality. In this contribution, we investigate four optimization approaches: (i) general non-linear optimization, (ii)…
Dexterous in-hand manipulation is a unique and valuable human skill requiring sophisticated sensorimotor interaction with the environment while respecting stability constraints. Satisfying these constraints with generated motions is…