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A reliable estimation of 3D parameters is a must for several applications like planning and control. Included in the latter is the Image-Based Visual Servoing, whose control scheme depends directly on 3D parameters e.g. depth of points, and…
Humans tend to build environments with structure, which consists of mainly planar surfaces. From the intersection of planar surfaces arise straight lines. Lines have more degrees-of-freedom than points. Thus, line-based…
The problem of calibration from straight lines is fundamental in geometric computer vision, with well-established theoretical foundations. However, its practical applicability remains limited, particularly in real-world outdoor scenarios.…
Artist-drawn sketches only loosely conform to analytical models of perspective projection; the deviation of human-drawn perspective from analytical perspective models is persistent and well documented, but has yet to be algorithmically…
We examine a variety of numerical methods that arise when considering dynamical systems in the context of physics-based simulations of deformable objects. Such problems arise in various applications, including animation, robotics, control…
We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. objects, walls, rooms), and edges represent relations (e.g.…
Precise 3D measurements of rigid surfaces are desired in many fields of application like quality control or surgery. Often, views from all around the object have to be acquired for a full 3D description of the object surface. We present a…
Contours may be viewed as the 2D outline of the image of an object. This type of data arises in medical imaging as well as in computer vision and can be modeled as data on a manifold and can be studied using statistical shape analysis.…
Designing robust activity detectors for fixed camera surveillance video requires knowledge of the 3-D scene. This paper presents an automatic camera calibration process that provides a mechanism to reason about the spatial proximity between…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
Nonlinear programming targets nonlinear optimization with constraints, which is a generic yet complex methodology involving humans for problem modeling and algorithms for problem solving. We address the particularly hard challenge of…
The determination of a dynamic law of cut is complex and often very difficult to develop. Several formulations were developed, in very complex ways being given that 3 AD crosses from there, the number of variables is much higher than out of…
Sketching is used as a ubiquitous tool of expression by novices and experts alike. In this thesis I explore two methods that help a system provide a geometric machine-understanding of sketches, and in-turn help a user accomplish a…
Correspondences between 3D lines and their 2D images captured by a camera are often used to determine position and orientation of the camera in space. In this work, we propose a novel algebraic algorithm to estimate the camera pose. We…
Why is it that we can recognize object identity and 3D shape from line drawings, even though they do not exist in the natural world? This paper hypothesizes that the human visual system perceives line drawings as if they were approximately…
Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…
LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…
This paper introduces a framework based on linear splines for 2-dimensional extended object tracking and classification. Unlike state of the art models, linear splines allow to represent extended objects whose contour is an arbitrarily…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
Perception in 3D has become standard practice for a large part of robotics applications. High quality 3D perception is costly. Our previous work on a nodding 2D Lidar provides high quality 3D depth information with low cost, but the sparse…