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

There is a very extensive literature dealing with convex polytopes from the standpoints of combinatorics and numerical analysis. By contrast, the current paper adopts an alternative viewpoint that regards a polytope as an autonomous space…

Joint object matching, also known as multi-image matching, namely, the problem of finding consistent partial maps among all pairs of objects within a collection, is a crucial task in many areas of computer vision. This problem subsumes…

This paper proposes a proprioceptive collision detection algorithm based on Gaussian Regression. Compared to sensor-based collision detection and other proprioceptive algorithms, the proposed approach has minimal sensing requirements, since…

The problem of finding a point in the intersection of closed sets can be solved by the method of alternating projections and its variants. It was shown in earlier papers that for convex sets, the strategy of using quadratic programming (QP)…

In this paper, we establish the local superlinear convergence property of some polynomial-time interior-point methods for an important family of conic optimization problems. The main structural property used in our analysis is the…

An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…

Approximate convex decomposition aims to decompose a 3D shape into a set of almost convex components, whose convex hulls can then be used to represent the input shape. It thus enables efficient geometry processing algorithms specifically…

Structural dimensional inspection is vital for the process monitoring, quality control, and fault diagnosis in the mass production of auto bodies. Comparing with the non-contact measurement, the high-precision five-axis measuring machine…

This work concerns the development of a 3D measuring system able to realize noncontact surface topography with millimetric depth-range and micrometric resolutions both in the spatial and depth axes. The optical concept is based on the well…

Accurate surround-view depth estimation provides a competitive alternative to laser-based sensors and is essential for 3D scene understanding in autonomous driving. While empirical studies have proposed various approaches that primarily…

Sweeping is a powerful and versatile method of designing objects. Boundary of volumes (henceforth envelope) obtained by sweeping solids have been extensively investigated in the past, though, obtaining an accurate parametrization of the…

Depth Estimation and Object Detection Recognition play an important role in autonomous driving technology under the guidance of deep learning artificial intelligence. We propose a hybrid structure called RealNet: a co-design method…

This paper presents a customized second-order cone programming (SOCP) solver tailored for embedded real-time optimization, which frequently arises in modern guidance and control (G&C) applications. The solver employs a practically efficient…

In this paper, we introduce and study the Parallel Polyhedral Projection Method (3PM) and the Approximate Parallel Polyhedral Projection Method (A3PM) for finding a point in the intersection of finitely many closed convex sets. Each…

Predicting on-road abnormalities such as road accidents or traffic violations is a challenging task in traffic surveillance. If such predictions can be done in advance, many damages can be controlled. Here in our wok, we tried to formulate…

In this paper, we introduce a generalized continuous collision detection (CCD) framework for the mobile robot along the polynomial trajectory in cluttered environments including various static obstacle models. Specifically, we find that the…

This paper proposes an extension of Random Projection Depth (RPD) to cope with multiple modalities and non-convexity on data clouds. In the framework of the proposed method, the RPD is computed in a reproducing kernel Hilbert space. With…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

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,…