Related papers: Real-time collision detection method for deformabl…

Artificial objects usually have very stable shape features, which are stable, persistent properties in geometry. They can provide evidence for object recognition. Shape features are more stable and more distinguishing than appearance…

Predicting a potential collision with leading vehicles is an essential functionality of any autonomous/assisted driving system. One bottleneck of existing vision-based solutions is that their updating rate is limited to the frame rate of…

A composite quadric model (CQM) is an object modeled by piecewise linear or quadric patches. We study the continuous detection problem of a special type of CQM objects which are commonly used in CAD/CAM, that is, the boundary surfaces of…

While computer vision has advanced considerably for general object detection and tracking, the specific problem of fast-moving tiny objects remains underexplored. This paper addresses the significant challenge of detecting and tracking…

To safely deploy legged robots in the real world it is necessary to provide them with the ability to reliably detect unexpected contacts and accurately estimate the corresponding contact force. In this paper, we propose a collision…

This work proposes a new formulation to the long-standing problem of convex decomposition through learning feature fields, enabling the first feed-forward model for open-world convex decomposition. Our method produces high-quality…

Collision detection between two convex shapes is an essential feature of any physics engine or robot motion planner. It has often been tackled as a computational geometry problem, with the Gilbert, Johnson and Keerthi (GJK) algorithm being…

Real-time safety systems are crucial components of intelligent vehicles. This paper introduces a prediction-based collision risk assessment approach on highways. Given a point mass vehicle dynamics system, a stochastic forward reachable set…

Intentional or unintentional contacts are bound to occur increasingly more often due to the deployment of autonomous systems in human environments. In this paper, we devise methods to computationally predict imminent collisions between…

In this paper, we investigate how moving objects can be detected when images are impacted by atmospheric turbulence. We present a geometric spatio-temporal point of view to the problem and show that it is possible to distinguish movement…

Achieving collision avoidance between moving objects is an important objective while determining robot trajectories. In performing collision avoidance maneuvers, the relative shapes of the objects play an important role. The literature…

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…

We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be…

External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…

This paper introduces a novel benchmark to study the impact and relationship of built environment elements on pedestrian collision prediction, intending to enhance environmental awareness in autonomous driving systems to prevent pedestrian…

Autonomous driving systems require a quick and robust perception of the nearby environment to carry out their routines effectively. With the aim to avoid collisions and drive safely, autonomous driving systems rely heavily on object…

This paper is devoted to the detection of objects on a road, performed with a combination of two methods based on both the use of depth information and video analysis of data from a stereo camera. Since neither the time of the appearance of…

AR/VR applications and robots need to know when the scene has changed. An example is when objects are moved, added, or removed from the scene. We propose a 3D object discovery method that is based only on scene changes. Our method does not…

In LiDAR-based 3D detection, history point clouds contain rich temporal information helpful for future prediction. In the same way, history detections should contribute to future detections. In this paper, we propose a detection enhancement…

In traffic management, it is a very important issue to shorten the response time by detecting the incidents (accident, vehicle breakdown, an object falling on the road, etc.) and informing the corresponding personnel. In this study, an…