Related papers: Efficient Distance Computation Algorithm between N…
Finding the three-dimensional representation of all or a part of a scene from a single two dimensional image is a challenging task. In this paper we propose a method for identifying the pose and location of objects with circular protrusions…
Placing objects is a fundamental task for domestic service robots (DSRs). Thus, inferring the collision-risk before a placing motion is crucial for achieving the requested task. This problem is particularly challenging because it is…
We present a method for 3D object detection and pose estimation from a single image. In contrast to current techniques that only regress the 3D orientation of an object, our method first regresses relatively stable 3D object properties…
We consider the directed Hausdorff distance between point sets in the plane, where one or both point sets consist of imprecise points. An imprecise point is modelled by a disc given by its centre and a radius. The actual position of an…
We present an algorithm to compute the minimum orbital intersection distance (MOID), or global minimum of the distance between the points lying on two Keplerian ellipses. This is achieved by finding all stationary points of the distance…
Computing collision-free trajectories is of prime importance for safe navigation. We present an approach for computing the collision probability under Gaussian distributed motion and sensing uncertainty with the robot and static obstacle…
Computing the Fr\'{e}chet distance for surfaces is a surprisingly hard problem and the only known algorithm is limited to computing it between flat surfaces. We adapt this algorithm to create one for computing the Fr\'{e}chet distance for a…
Distance geometry is the study of the arrangements of points in space using only the mutual distances between them. The basic idea in this letter is to use distance geometry for thermodynamics studies of small clusters in the microcanonical…
UAV missions often require specific geometric constraints to be satisfied between ground locations and the vehicle location. Such requirements are typical for contexts where line-of-sight must be maintained between the vehicle location and…
Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…
The computation of the geometric transformation between a reference and a target image, known as registration or alignment, corresponds to the projection of the target image onto the transformation manifold of the reference image (the set…
We introduce a new Lagrangian particle tracking algorithm that tracks particles in three dimensions to separations between trajectories approaching contact. The algorithm also detects low Weber number binary collisions that result in…
Approximate K Nearest Neighbor (AKNN) search in high-dimensional spaces is a critical yet challenging problem. In AKNN search, distance computation is the core task that dominates the runtime. Existing approaches typically use approximate…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
We present a novel approach to place recognition well-suited to environments with many dynamic objects--objects that may or may not be present in an agent's subsequent visits. By incorporating an object-detecting preprocessing step, our…
Obstacle avoidance from monocular images is a challenging problem for robots. Though multi-view structure-from-motion could build 3D maps, it is not robust in textureless environments. Some learning based methods exploit human demonstration…
Collision-free motion planning in complex outdoor environments relies heavily on perceiving the surroundings through exteroceptive sensors. A widely used approach represents the environment as a voxelized Euclidean distance field, where…
Polytopes are the basic finite data structures for convex sets: they appear as feasible regions in linear optimization, as geometric summaries in algorithms, and as random objects in stochastic geometry. A natural geometric question is…
This paper presents a computationally efficient method for vehicle speed estimation from traffic camera footage. Building upon previous work that utilizes 3D bounding boxes derived from 2D detections and vanishing point geometry, we…
In this paper we present a new iterative projection method for finding the closest point in the intersection of convex sets to any arbitrary point in a Hilbert space. This method, termed AAMR for averaged alternating modified reflections,…