Related papers: PolyDepth: Real-time Penetration Depth Computation…

Real-time semantic segmentation of LiDAR data is crucial for autonomously driving vehicles, which are usually equipped with an embedded platform and have limited computational resources. Approaches that operate directly on the point cloud…

By utilizing only depth information, the paper introduces a novel but efficient local planning approach that enhances not only computational efficiency but also planning performances for memoryless local planners. The sampling is first…

Category-level object pose and shape estimation from a single depth image has recently drawn research attention due to its potential utility for tasks such as robotics manipulation. The task is particularly challenging because the three…

This work presents the Large Depth Completion Model (LDCM), a simple, effective, and robust framework for single-view metric depth estimation with sparse observations. Without relying on complex architectural designs, LDCM generates…

Due to the abundance of 2D product images from the Internet, developing efficient and scalable algorithms to recover the missing depth information is central to many applications. Recent works have addressed the single-view depth estimation…

Continuous collision detection (CCD) and response methods are widely adopted in dynamics simulation of deformable models. They are history-based, as their success is strictly based on an assumption of a collision-free state at the start of…

With the advancement of Internet of Things (IoT) technologies, high-precision indoor positioning has become essential for Location-Based Services (LBS) in complex indoor environments. Fingerprint-based localization is popular, but…

Since its inception, Benders Decomposition (BD) has been successfully applied to a wide range of large-scale mixed-integer (linear) problems. The key element of BD is the derivation of Benders cuts, which are often not unique. In this…

This paper proposes a new set of conditions for exactly representing collision avoidance constraints within optimization-based motion planning algorithms. The conditions are continuously differentiable and therefore suitable for use with…

This paper presents the first polynomial time algorithm to compute geodesics in a CAT(0) cubical complex in general dimension. The algorithm is a simple iterative method to update breakpoints of a path joining two points using Miller, Owen…

We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constraints, and kinematic limitations. A relaxed barrier function…

Light field cameras and multi-camera arrays have emerged as promising solutions for accurately estimating depth by passively capturing light information. This is possible because the 3D information of a scene is embedded in the 4D light…

The penetration trajectory optimization problem for the hypersonic gliding vehicle (HGV) encountering two interceptors is investigated. The HGV penetration trajectory optimization problem considering the terminal target area is formulated…

Depth completion from sparse LiDAR and high-resolution RGB data is one of the foundations for autonomous driving techniques. Current approaches often rely on CNN-based methods with several known drawbacks: flying pixel at depth…

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources. Prior works either extract information from the RGB image and depth separately or use costly…

Change-point detection (CPD) aims to locate abrupt transitions in the generative model of a sequence of observations. When Bayesian methods are considered, the standard practice is to infer the posterior distribution of the change-point…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

A convex partition of a point set P in the plane is a planar partition of the convex hull of P with empty convex polygons or internal faces whose extreme points belong to P. In a convex partition, the union of the internal faces give the…

Limited by the computational efficiency and accuracy, generating complex 3D scenes remains a challenging problem for existing generation networks. In this work, we propose DepthGAN, a novel method of generating depth maps with only semantic…

Accurately estimating the pose of an object is a crucial task in computer vision and robotics. There are two main deep learning approaches for this: geometric representation regression and iterative refinement. However, these methods have…