Related papers: Gravimetric estimation of the E\"otv\"os component…
In this article we introduce a diffeomorphism-invariant Riemannian metric on the space of vector valued one-forms. The particular choice of metric is motivated by potential future applications in the field of functional data and shape…
Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…
In this paper we critically analyze the so far performed and proposed tests for measuring the general relativistic Lense-Thirring effect in the gravitational field of the Earth with some of the existing accurately tracked artificial…
The center of gravity $x_{g}= \sum_{i}E_{i} x_{i}/\sum_{i} E_{i}$ as an algorithm for position measurements is carefully analyzed. Many mathematical consequences of discretization are extracted. The origin of the systematic error of the…
We suggest a construction that, given a trajectorial diffeomorphism between two Hamiltonian systems, produces integrals of them. As the main example we treat geodesic equivalence of metrics. We show that the existence of a non-trivially…
Vision based object grasping and manipulation in robotics require accurate estimation of object's 6D pose. The 6D pose estimation has received significant attention in computer vision community and multiple datasets and evaluation metrics…
A Gaussian Process GP based ground segmentation method is proposed in this paper which is fully developed in a probabilistic framework. The proposed method tends to obtain a continuous realistic model of the ground. The LiDAR…
Recovering the absolute metric scale from a monocular camera is a challenging but highly desirable problem for monocular camera-based systems. By using different kinds of cues, various approaches have been proposed for scale estimation,…
Effective estimates for the lattice point discrepancy of certain planar and three-dimensional domains. This paper provides estimates, with explicit constants, for the lattice point discrepancy of o-symmetric ellipse discs and ellipsoids in…
The algorithms given in Karney, J. Geodesy 87, 43-55 (2013), to compute geodesics on terrestrial ellipsoids are extended to apply to ellipsoids of revolution with arbitrary eccentricity. For the direct and inverse geodesic problems, this…
The linear equations of motion of a uniformly rotating, elastic and self-gravitating earth model are analyzed under minimal regularity assumptions. We present existence and uniqueness results for the system, energy estimates, convergence of…
The action of gravitational physics across space-time creates observable signatures in the behaviour of light and matter. We perform combined-probe studies using data from the Baryon Oscillation Spectroscopic Survey (BOSS) and Dark Energy…
In this PhD thesis I make use of the "Effective Field Theory of Gravity for Extended Objects" by Goldberger and Rothstein in order to investigate theories of gravity and to take a different point of view on the physical information that can…
A new approach to the measurement of gravitational fields with an equilibrium ensemble of ultra-cold alkali atoms confined in a cell of volume $V$ is investigated. The proposed model of the gravitational sensor is based on a variation of…
Recent advances in precise phasor measurement units are enabling new approaches to estimate distribution and transmission grid parameters in real-time. In this paper, we investigate voltage and current phasor measurement requirements to…
This paper proposes a new approach to detecting grasp points on novel objects presented in clutter. The input to our algorithm is a point cloud and the geometric parameters of the robot hand. The output is a set of hand configurations that…
We propose an approach for capturing the signal variability in hyperspectral imagery using the framework of the Grassmann manifold. Labeled points from each class are sampled and used to form abstract points on the Grassmannian. The…
We present an approach to robustly track the geometry of an object that deforms over time from a set of input point clouds captured from a single viewpoint. The deformations we consider are caused by applying forces to known locations on…
The electrocardiogram (ECG) is a well-known technique used to diagnose cardiac diseases. To acquire the spatial signal characteristics from the thorax, multiple electrodes are commonly used. Displacements of electrodes affect the signal…
In this paper, we introduce a Grasp Manifold Estimator (GraspME) to detect grasp affordances for objects directly in 2D camera images. To perform manipulation tasks autonomously it is crucial for robots to have such graspability models of…