Related papers: Fast Simulation of Vehicles with Non-deformable Tr…
The control and task automation of robotic surgical system is very challenging, especially in soft tissue manipulation, due to the unpredictable deformations. Thus, an accurate simulator of soft tissues with the ability of interacting with…
Modeling perception sensors is key for simulation based testing of automated driving functions. Beyond weather conditions themselves, sensors are also subjected to object dependent environmental influences like tire spray caused by vehicles…
In this work, we present a dense tracking and mapping system named Vox-Fusion, which seamlessly fuses neural implicit representations with traditional volumetric fusion methods. Our approach is inspired by the recently developed implicit…
Highway driving invariably combines high speeds with the need to interact closely with other drivers. Prediction methods enable autonomous vehicles (AVs) to anticipate drivers' future trajectories and plan accordingly. Kinematic methods for…
Motion Cueing Algorithms (MCAs) encode the movement of simulated vehicles into movement that can be reproduced with a motion simulator to provide a realistic driving experience within the capabilities of the machine. This paper introduces a…
We present a contact-implicit trajectory optimization framework that can plan contact-interaction trajectories for different robot architectures and tasks using a trivial initial guess and without requiring any parameter tuning. This is…
This document aims at specifying the requirements and capturing the needs of users for building a softbody simulation system. This system has different applications ranging from computer games to surgery training which facilitates the…
Optimization-based 3D object tracking is known to be precise and fast, but sensitive to large inter-frame displacements. In this paper we propose a fast and effective non-local 3D tracking method. Based on the observation that erroneous…
Estimating the state of a deformable object is crucial for robotic manipulation, yet accurate tracking is challenging when the object is partially-occluded. To address this problem, we propose an occlusion-robust RGBD sequence tracking…
Perception of other road users is a crucial task for intelligent vehicles. Perception systems can use on-board sensors only or be in cooperation with other vehicles or with roadside units. In any case, the performance of perception systems…
Physics-based understanding of object interactions from sensory observations is an essential capability in augmented reality and robotics. It enables to capture the properties of a scene for simulation and control. In this paper, we propose…
Accurately modeling contact behaviors for real-world, near-rigid materials remains a grand challenge for existing rigid-body physics simulators. This paper introduces a data-augmented contact model that incorporates analytical solutions…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
Tracking multiple objects in videos relies on modeling the spatial-temporal interactions of the objects. In this paper, we propose a solution named TransMOT, which leverages powerful graph transformers to efficiently model the spatial and…
This paper introduces the first differentiable simulator of event streams, i.e., streams of asynchronous brightness change signals recorded by event cameras. Our differentiable simulator enables non-rigid 3D tracking of deformable objects…
The novel concept of near-field velocity sensing is proposed. In contrast to far-field velocity sensing, near-field velocity sensing enables the simultaneous estimation of both radial and transverse velocities of a moving target. A…
Shape control of deformable objects is a challenging and important robotic problem. This paper proposes a model-free controller using novel 3D global deformation features based on modal analysis. Unlike most existing controllers using…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
Physically-based simulation is a powerful approach for 3D facial animation as the resulting deformations are governed by physical constraints, allowing to easily resolve self-collisions, respond to external forces and perform realistic…
The connected vehicle technology is a remarkable trend in the field of the intelligent transportation system. Since the actual deployment of the connected vehicle system is still lacking hitherto, simulation is widely adopted as the major…