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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…
Robust estimation of object poses in robotic manipulation is often addressed using foundational general estimators, that aim to handle diverse error sources naively within a single model. Still, they struggle due to environmental…
Object identification is one of the most fundamental and difficult issues in computer vision. It aims to discover object instances in real pictures from a huge number of established categories. In recent years, deep learning-based object…
Detection of circular objects in digital images is an important problem in several vision applications. Circle detection using randomized sampling has been developed in recent years to reduce the computational intensity. Randomized…
The most commonly used method for addressing 3D geometric registration is the iterative closet-point algorithm, this approach is incremental and prone to drift over multiple consecutive frames. The Common strategy to address the drift is…
This article presents a new approach to the real-time solution of inverse problems on embedded systems. The class of problems addressed corresponds to ordinary differential equations (ODEs) with generalized linear constraints, whereby the…
Metacalibration is a new technique for measuring weak gravitational lensing shear that is unbiased for isolated galaxy images. In this work we test metacalibration with overlapping, or ``blended'' galaxy images. Using standard…
The spatial resolution of a detector, using a reference detector telecscope, can be measured applying the geometric mean method, with tracks reconstructed from hits of all the detectors, including ($\sigma_\mathrm{in}$) and excluding…
Accurate grasping is the key to several robotic tasks including assembly and household robotics. Executing a successful grasp in a cluttered environment requires multiple levels of scene understanding: First, the robot needs to analyze the…
In this work, we address the limitation of surface fitting-based grasp planning algorithm, which primarily focuses on geometric alignment between the gripper and object surface while overlooking the stability of contact point distribution,…
We introduce generalised finite difference methods for solving fully nonlinear elliptic partial differential equations. Methods are based on piecewise Cartesian meshes augmented by additional points along the boundary. This allows for…
Projective geometry provides the preferred framework for most implementations of Euclidean space in graphics applications. Translations and rotations are both linear transformations in projective geometry, which helps when it comes to…
We present an algorithmic contribution to improve the efficiency of robust trim-fitting in outlier affected geometric regression problems. The method heavily relies on the quick sort algorithm, and we present two important insights. First,…
Many types of detectors, such as cathode strip chambers and some MPGDs, allow us to reconstruct track positions by induced strip charges. There are two main types of algebraic methods for this reconstruction: center of gravity methods and…
The ellipsoid method is an algorithm that solves the (weak) feasibility and linear optimization problems for convex sets by making oracle calls to their (weak) separation problem. We observe that the previously known method for showing that…
Image registration is a process of aligning two or more images of same objects using geometric transformation. Most of the existing approaches work on the assumption of location invariance. These approaches require object-centric images to…
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…
Eye tracking spreads through a vast area of applications from ophthalmology, assistive technologies to gaming and virtual reality. Precisely detecting the pupil's contour and center is the very first step in many of these tasks, hence needs…
We present a general technique, based on parametric search with some twist, for solving a variety of optimization problems on a set of semi-algebraic geometric objects of constant complexity. The common feature of these problems is that…
The problem of finding elliptical shapes in an image will be considered. We discuss the solution which uses cross-entropy clustering. The proposed method allows the search for ellipses with predefined sizes and position in the space.…