Related papers: A Decomposition-Based Approach to Reasoning about …

Perception research provides strong evidence in favor of part based representation of shapes in human visual system. Despite considerable differences among different theories in terms of how part boundaries are found, there is substantial…

We introduce a method for efficiently computing the exact shortest path to the boundary of a mesh from a given internal point in the presence of self-intersections. We provide a formal definition of shortest boundary paths for…

Many real-world problems can be formulated as the alignment between two geometric patterns. Previously, a great amount of research focus on the alignment of 2D or 3D patterns in the field of computer vision. Recently, the alignment problem…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

Computing the diameter of the intersection graphs of objects is a basic problem in computational geometry. Previous works showed that the complexity of computing the diameter mainly depends on the object types: for unit disks and squares in…

In previous work, we introduced a method for modeling a configuration of objects in 2D and 3D images using a mathematical "medial/skeletal linking structure." In this paper, we show how these structures allow us to capture positional…

Physical and chemical properties of 2D material are highly sensitive to its structures whose regularity are seldom investigated, here we proposed a simple mechanical model whose covalent bonds are connected by angle springs, with which we…

This paper presents a method to compute differentiable collision-free parametric corridors. In contrast to existing solutions that decompose the obstacle-free space into multiple convex sets, the continuous corridors computed by our method…

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…

This study presents a rigid-deformation decomposition framework for vehicle collision dynamics that mitigates the spectral bias of implicit neural representations, that is, coordinate-based neural networks that directly map spatio-temporal…

We consider the problem of finding a maximum size triangle-free $2$-matching in a graph $G=(V,E)$. A (simple) $2$-matching is any subset of the edges such that each vertex is incident to at most two edges from the subset. The first…

With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched research area in many fields ranging from surgical robotics to…

The pose of a rigid object is usually regarded as a rigid transformation, described by a translation and a rotation. However, equating the pose space with the space of rigid transformations is in general abusive, as it does not account for…

We revisit the minimum-link path problem: Given a polyhedral domain and two points in it, connect the points by a polygonal path with minimum number of edges. We consider settings where the vertices and/or the edges of the path are…

In this paper, we study the optimal transport problem induced by separable cost functions. In this framework, transportation can be expressed as the composition of two lower-dimensional movements. Through this reformulation, we prove that…

This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit…

Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…

Monocular 3D object detection is of great significance for autonomous driving but remains challenging. The core challenge is to predict the distance of objects in the absence of explicit depth information. Unlike regressing the distance as…

This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…

This work studies path planning in two-dimensional space, in the presence of polygonal obstacles. We specifically address the problem of building a roadmap graph, that is, an abstract representation of all the paths that can potentially be…