Related papers: A Decomposition-Based Approach to Reasoning about …
Pairwise compatibility calculation is at the core of most fragments-reconstruction algorithms, in particular those designed to solve different types of the jigsaw puzzle problem. However, most existing approaches fail, or aren't designed to…
This paper introduces a new approach for the automated reconstruction - reassembly of fragmented objects having one surface near to plane, on the basis of the 3D representation of their constituent fragments. The whole process starts by 3D…
Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables…
We study the design of robust subexponential algorithms for classical connectivity problems on intersection graphs of similarly sized fat objects in $\mathbb{R}^d$. In this setting, each vertex corresponds to a geometric object, and two…
This paper introduces a new paradigm of optimal path planning, i.e., passage-traversing optimal path planning (PTOPP), that optimizes paths' traversed passages for specified optimization objectives. In particular, PTOPP is utilized to find…
Calculating relative free energies is a topic of substantial interest and has many applications including solvation and binding free energies, which are used in computational drug discovery. However, there remain the challenges of accuracy,…
Many methods in learning from demonstration assume that the demonstrator has knowledge of the full environment. However, in many scenarios, a demonstrator only sees part of the environment and they continuously replan as they gather…
This paper studies the problem of 3D volumetric reconstruction from two views of a scene with an unknown camera. While seemingly easy for humans, this problem poses many challenges for computers since it requires simultaneously…
Volume calculation of configurational spaces acts as a vital part in configurational entropy calculation, which contributes towards calculating free energy landscape for molecular systems. In this article, we present our sampling-based…
Mechanical assemblies can exhibit complex relative motions, during which collisions between moving parts and their surroundings must be avoided. To define feasible design spaces for each part's shape, "maximal" collision-free pointsets can…
This paper is concerned with recovery of motion and structure parameters from multiframes under orthogonal projection when only points are traced. The main question is how many points and/or how many frames are necessary for the task. It is…
How can we manipulate the topological connectivity of a three-dimensional prismatic assembly to control the number of internal degrees of freedom and the number of connected components in it? To answer this question in a deterministic…
In many areas of applied geometric/numeric computational mathematics, including geo-mapping, computer vision, computer graphics, finite element analysis, medical imaging, geometric design, and solid modeling, one has to compute incidences,…
This paper considers a two-dimensional persistent monitoring problem by controlling movements of second-order agents to minimize some uncertainty metric associated with targets in a dynamic environment. In contrast to common sensing models…
Reconstructing a complete object from its parts is a fundamental problem in many scientific domains. The purpose of this article is to provide a systematic survey on this topic. The reassembly problem requires understanding the attributes…
This paper presents an optimisation-based approach for an obstacle avoidance problem within an autonomous vehicle racing context. Our control regime leverages online reachability analysis and sensor data to compute the maximal safe…
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…
Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…
We describe our work on inferring the degrees of freedom between mated parts in mechanical assemblies using deep learning on CAD representations. We train our model using a large dataset of real-world mechanical assemblies consisting of CAD…
A face image contains geometric cues in the form of configurational information and contours that can be used to estimate 3D face shape. While it is clear that 3D reconstruction from 2D points is highly ambiguous if no further constraints…