Related papers: Active Estimation of 3D Lines in Spherical Coordin…
In the field of spatial computing, one of the most essential tasks is the pose estimation of 3D objects. While rigid transformations of arbitrary 3D objects are relatively hard to detect due to varying environment introducing factors like…
Relative attitude formation control systems are developed for multiple spacecraft, based on the line-of-sight measurements between spacecraft in formation. The proposed control systems are unique in the sense that they do not require…
We introduce a novel concept for motion robust optical 3D-sensing. The concept is based on multi-line triangulation. The aim is to evaluate a large number of projected lines (high data density) in a large measurement volume with high…
This paper addresses questions regarding controllability for `generic parameter' dynamical systems, i.e. the question whether a dynamical system is `structurally controllable'. Unlike conventional methods that deal with structural…
Intersection scenarios provide the most complex traffic situations in Autonomous Driving and Driving Assistance Systems. Knowing where to stop in advance in an intersection is an essential parameter in controlling the longitudinal velocity…
This work addresses the problem of designing an equivariant observer for a first order dynamical system on the unit-sphere. Building upon the established case of unit bearing vector dynamics with angular velocity inputs, we introduce an…
The concept of observability of linear systems initiated with Kalman in the mid 1950s. Roughly a decade later, the observability of nonlinear systems appeared. By such definitions a system is either observable or not. Continuous measures of…
The aim of this paper is to present a new method of approximation of planar data set using only arcs or segments. The first problem we are trying to solve is the following: the CNC machines can work only with simple curves (arcs or…
Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of perception stack especially for the sake of path planning, motion…
Recently, through development of several 3d vision systems, widely used in various applications, medical and biometric fields. Microsoft kinect sensor have been most of used camera among 3d vision systems. Microsoft kinect sensor can obtain…
3D scatterplots are a well-established plotting technique that can be used to represent data with three or more dimensions. On paper and computer monitors they are essentially two-dimensional projections of the three-dimensional Cartesian…
An algebraic characterization of the property of approximate controllability is given, for behaviours of spatially invariant dynamical systems, consisting of distributional solutions, that are periodic in the spatial variables, to a system…
Nearly all 3D displays need calibration for correct rendering. More often than not, the optical elements in a 3D display are misaligned from the designed parameter setting. As a result, 3D magic does not perform well as intended. The…
The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…
We study the set of lines that meet a fixed line and are tangent to two spheres and classify the configurations consisting of a single line and three spheres for which there are infinitely many lines tangent to the three spheres that also…
This paper proposes a process that uses two cameras to obtain three-dimensional (3D) information of a target object for human tracking. Results of human detection and tracking from two cameras are integrated to obtain the 3D information.…
Accurate interpretation of street-level imagery is essential for large-scale urban mapping and the creation of Spatial Digital Twin (SDT) environments. This work presents a unified framework for joint 2D-3D segmentation and association that…
Orientation estimation is a fundamental task in 3D shape analysis which consists of estimating a shape's orientation axes: its side-, up-, and front-axes. Using this data, one can rotate a shape into canonical orientation, where its…
Many day-to-day activities require the dexterous manipulation of a redundant humanoid arm in complex 3D environments. However, position regulation of such robot arm systems becomes very difficult in presence of non-linear uncertainties in…
The wheel of the train is a 3D revolving geometrical structure. Reconstructing the normal section profile is an effective approach to determine the critical geometric parameter and wear of the wheel in the community of railway safety. The…