Related papers: Globally optimal point set registration by joint s…
Optimizing robot poses and the map simultaneously has been shown to provide more accurate SLAM results. However, for non-feature based SLAM approaches, directly optimizing all the robot poses and the whole map will greatly increase the…
This paper deals with a bilevel approach of the location-allocation problem with dimensional facilities. We present a general model that allows us to consider very general shapes of domains for the dimensional facilities and we prove the…
Detecting symmetry is crucial for effective object grasping for several reasons. Recognizing symmetrical features or axes within an object helps in developing efficient grasp strategies, as grasping along these axes typically results in a…
Shape assembly composes complex shapes geometries by arranging simple part geometries and has wide applications in autonomous robotic assembly and CAD modeling. Existing works focus on geometry reasoning and neglect the actual physical…
3D reconstruction techniques have widely been used for digital documentation of archaeological fragments. However, efficient digital capture of fragments remains as a challenge. In this work, we aim to develop a portable, high-throughput,…
This paper presents a framework for rigid point-set registration and merging using a robust continuous data representation. Our point-set representation is constructed by training a one-class support vector machine with a Gaussian radial…
Affine Grassmannian has been favored for expressing proximity between lines and planes due to its theoretical exactness in measuring distances among features. Despite this advantage, the existing method can only measure the proximity…
The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…
We present a technique for simultaneous 3D reconstruction of static regions and rigidly moving objects in a scene. An RGB-D frame is represented as a collection of features, which are points and planes. We classify the features into static…
In this paper, we propose a coarse-to-fine integration solution inspired by the classical ICP algorithm, to pairwise 3D point cloud registration with two improvements of hybrid metric spaces (eg, BSC feature and Euclidean geometry spaces)…
Let $A$ and $B$ be two point sets in the plane of sizes $r$ and $n$ respectively (assume $r \leq n$), and let $k$ be a parameter. A matching between $A$ and $B$ is a family of pairs in $A \times B$ so that any point of $A \cup B$ appears in…
Point set registration is an essential step in many computer vision applications, such as 3D reconstruction and SLAM. Although there exist many registration algorithms for different purposes, however, this topic is still challenging due to…
We propose a framework for optimizing a planar parallel-jaw gripper for use with multiple objects. While optimizing general-purpose grippers and contact locations for grasps are both well studied, co-optimizing grasps and the gripper…
Blind Perspective-n-Point (PnP) is the problem of estimating the position and orientation of a camera relative to a scene, given 2D image points and 3D scene points, without prior knowledge of the 2D-3D correspondences. Solving for pose and…
The problem of simultaneous rigid alignment of multiple unordered point sets which is unbiased towards any of the inputs has recently attracted increasing interest, and several reliable methods have been newly proposed. While being…
Mutual localization provides a consensus of reference frame as an essential basis for cooperation in multirobot systems. Previous works have developed certifiable and robust solvers for relative transformation estimation between each pair…
Object placement is a fundamental task for robots, yet it remains challenging for partially observed objects. Existing methods for object placement have limitations, such as the requirement for a complete 3D model of the object or the…
We study the Heilbronn triangle problem, which involves placing n points in the unit square such that the minimum area of any triangle formed by these points is maximized. A straightforward maximin formulation of this problem is highly…
This paper proposes an effective approach for the scaling registration of $m$-D point sets. Different from the rigid transformation, the scaling registration can not be formulated into the common least square function due to the ill-posed…
Point base registration is an important part in many machine VISIOn applications, medical diagnostics, agricultural studies etc. The goal of point set registration is to find correspondences between different data sets and estimate the…