Related papers: Iterative Surface Mapping Using Local Geometry App…
This paper presents an iterative smoothing technique for polygonal approximation of digital image boundary. The technique starts with finest initial segmentation points of a curve. The contribution of initially segmented points towards…
For explicit interface tracking in three dimensions, we propose a linear MARS method that (a) represents the interface by a partially ordered set of glued surfaces and approximates each glued surface with a triangular mesh, (b) maintains an…
A robust, resource-efficient, distributed, and minimally parameterized 3D map matching and merging algorithm is proposed. The suggested algorithm utilizes tomographic features from 2D projections of horizontal cross-sections of…
A popular class of lidar-based grid mapping algorithms computes for each map cell the probability that it reflects an incident laser beam. These algorithms typically determine the map as the set of reflection probabilities that maximizes…
Motivated by the question of optimal functional approximation via compressed sensing, we propose generalizations of the Iterative Hard Thresholding and the Compressive Sampling Matching Pursuit algorithms able to promote sparse in levels…
SLAM is a fundamental component of modern autonomous systems, providing robots and their operators with a deeper understanding of their environment. SLAM systems often encounter challenges due to the dynamic nature of robotic motion,…
Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odometry and the measurements of the features in the pre-built…
For uncertainty propagation of highly complex and/or nonlinear problems, one must resort to sample-based non-intrusive approaches [1]. In such cases, minimizing the number of function evaluations required to evaluate the response surface is…
The perception of an object's surface is important for robotic applications enabling robust object manipulation. The level of accuracy in such a representation affects the outcome of the action planning, especially during tasks that require…
We address the problem of surface inpainting, which aims to fill in holes or missing regions on a Riemann surface based on its surface geometry. In practical situation, surfaces obtained from range scanners often have holes where the 3D…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
Synthetic aperture radar (SAR) is a tomographic sensor that measures 2D slices of the 3D spatial Fourier transform of the scene. In many operational scenarios, the measured set of 2D slices does not fill the 3D space in the Fourier domain,…
Structured light 3D surface imaging is a school of techniques in which structured light patterns are used for measuring the depth map of the object. Among all the designed structured light patterns, phase pattern has become most popular…
Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global…
In this letter, we present an interactive probabilistic mapping framework for a mobile manipulator picking objects from a pile. The aim is to map the scene, actively decide where to go next and which object to pick, make changes to the…
We use conformal maps to study a free boundary problem for a two-fluid electromechanical system, where the interface between the fluids is determined by the combined effects of electrostatic forces, gravity and surface tension. The free…
Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…
Monocular visual SLAM has become an attractive practical approach for robot localization and 3D environment mapping, since cameras are small, lightweight, inexpensive, and produce high-rate, high-resolution data streams. Although numerous…
Texture reconstruction techniques generally suffer from the errors in keyframe poses. We present a non-iterative method for seamless texture reconstruction of a given 3D scene. Our method finds the best texture alignment in a single shot…
High-dimensional simulation optimization is notoriously challenging. We propose a new sampling algorithm that converges to a global optimal solution and suffers minimally from the curse of dimensionality. The algorithm consists of two…