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3D Multi-object tracking (MOT) empowers mobile robots to accomplish well-informed motion planning and navigation tasks by providing motion trajectories of surrounding objects. However, existing 3D MOT methods typically employ a single…
Roadside monocular 3D detection requires detecting objects of predefined classes in an RGB frame and predicting their 3D attributes, such as bird's-eye-view (BEV) locations. It has broad applications in traffic control, vehicle-vehicle…
Given a geometric domain $P$, visibility-based search problems seek routes for one or more mobile agents ("watchmen") to move within $P$ in order to be able to see a portion (or all) of $P$, while optimizing objectives, such as the…
We consider the problem of localizing a target taking the help of a set of anchor beacon nodes.A small number of beacon nodes are deployed at known locations in the area.The target can detect a beacon provided it happens to lie within the…
Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…
This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…
This paper presents a mixed-reality human-robot teaming system. It allows human operators to see in real-time where robots are located, even if they are not in line of sight. The operator can also visualize the map that the robots create of…
This paper focuses on developing a bearings-only measurement-based three-dimensional window traversal guidance method for quadrotor Uninhabitated Aerial Vehicles (UAVs). The desired flight path and heading angles of the quadrotor are…
Jordan geometries are defined as spaces equipped with point reflections depending on triples of points, exchanging two of the points and fixing the third. In a similar way, symmetric spaces have been defined by Loos (Symmetric Spaces I,…
The paper focuses on a classical tracking model, subspace learning, grounded on the fact that the targets in successive frames are considered to reside in a low-dimensional subspace or manifold due to the similarity in their appearances. In…
We consider mean trajectories of multiple tracking points on a rigid body that conducts Brownian motion in the absence and presence of an external force field. Based on a na\"{\i}ve representation of rigid body - polygon and polyhedron…
We explore the perspective of a bug living on the two-dimensional surface of a polyhedron. Images of various kinds of effects like lensing and cloaking are shown via color pictures of three viewpoints: the first person perspective of the…
In view of solving problems of geometric realizability of polyhedra with given geometric constraints, we describe the space of geometric realizations of a simply-connected triangulated euclidean polyhedron in $\mathbb{R}^3$ up to similarity…
In this article we consider an open conjecture about coherently labelling a polyhedron in three dimensions. We exhibit all the forty eight possible coherent labellings of a tetrahedron. We also exhibit that some simplicial polyhedra like…
Existing view-based methods excel at recognizing 3D objects from predefined viewpoints, but their exploration of recognition under arbitrary views is limited. This is a challenging and realistic setting because each object has different…
We study oriented connected closed polyhedral surfaces with non-degenerate triangular faces in three-dimensional Euclidean space, calling them polyhedra for short. A polyhedron is called flexible if its spatial shape can be changed…
A nonholonomic under-actuated robot with a bounded control range travels inside an unknown and unstructured 3D tunnel bounded by a generic 2D surface. The robot has access to the nearest point of the surface and measures the distance to the…
Most tracking-by-detection methods employ a local search window around the predicted object location in the current frame assuming the previous location is accurate, the trajectory is smooth, and the computational capacity permits a search…
An arrangement of pseudocircles is a finite set of oriented closed Jordan curves each two of which cross each other in exactly two points. To describe the combinatorial structure of arrangements on closed orientable surfaces, in (Linhart,…
We introduce a linear algebraic object called a bidiagonal triple. A bidiagonal triple consists of three diagonalizable linear transformations on a finite-dimensional vector space, each of which acts in a bidiagonal fashion on the…