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Real-time detection of objects in the 3D scene is one of the tasks an autonomous agent needs to perform for understanding its surroundings. While recent Deep Learning-based solutions achieve satisfactory performance, their high…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
As a critical task in autonomous driving perception systems, 3D object detection is used to identify and track key objects, such as vehicles and pedestrians. However, detecting distant, small, or occluded objects (hard instances) remains a…
Multilevel techniques are efficient approaches for solving the large linear systems that arise from discretized partial differential equations and other problems. While geometric multigrid requires detailed knowledge about the underlying…
This paper deals with the problem of simulating dense dispersed systems composed by large numbers of particles undergoing ballistic aggregation. The most classical approaches for dealing with such problems are represented by the so-called…
We consider travel time tomography problems involving detection of high contrast, discrete high velocity structures. This results in a discrete nonlinear inverse problem, for which traditional grid-based models and iterative linearized…
This paper proposes a GPU-accelerated optimization framework for collision avoidance problems where the controlled objects and the obstacles can be modeled as the finite union of convex polyhedra. A novel collision avoidance constraint is…
Shape correspondence is a fundamental problem in computer graphics and vision, with applications in various problems including animation, texture mapping, robotic vision, medical imaging, archaeology and many more. In settings where the…
In order to function in unstructured environments, robots need the ability to recognize unseen novel objects. We take a step in this direction by tackling the problem of segmenting unseen object instances in tabletop environments. However,…
Camouflaged objects are typically assimilated into their backgrounds and exhibit fuzzy boundaries. The complex environmental conditions and the high intrinsic similarity between camouflaged targets and their surroundings pose significant…
System identification involving the geometry, appearance, and physical properties from video observations is a challenging task with applications in robotics and graphics. Recent approaches have relied on fully differentiable Material Point…
Deep implicit functions (DIFs) have emerged as a potent and articulate means of representing 3D shapes. However, methods modeling object categories or non-rigid entities have mainly focused on single-object scenarios. In this work, we…
We propose and explore a new, general-purpose method for the implicit time integration of elastica. Key to our approach is the use of a mixed variational principle. In turn its finite element discretization leads to an efficient alternating…
Dynamic scene understanding is an essential capability in robotics and VR/AR. In this paper we propose Co-Section, an optimization-based approach to 3D dynamic scene reconstruction, which infers hidden shape information from intersection…
We present Jade, a differentiable physics engine for articulated rigid bodies. Jade models contacts as the Linear Complementarity Problem (LCP). Compared to existing differentiable simulations, Jade offers features including…
Reliable multimodal sensor fusion algorithms require accurate spatiotemporal calibration. Recently, targetless calibration techniques based on implicit neural representations have proven to provide precise and robust results. Nevertheless,…
This paper presents a novel implicit scheme for the constraint resolution in real-time finite element simulations in the presence of contact and friction. Instead of using the standard motion correction scheme, we propose an iterative…
In this paper we present a new high order semi-implicit DG scheme on two-dimensional staggered triangular meshes applied to different nonlinear systems of hyperbolic conservation laws such as advection-diffusion models, incompressible…
This paper proposes a new set of conditions for exactly representing collision avoidance constraints within optimization-based motion planning algorithms. The conditions are continuously differentiable and therefore suitable for use with…