Related papers: A Multi-body Tracking Framework - From Rigid Objec…
A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with closed kinematic chains and by the need for a modeling framework…
In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and…
We present a challenging and realistic novel dataset for evaluating 6-DOF object tracking algorithms. Existing datasets show serious limitations---notably, unrealistic synthetic data, or real data with large fiducial markers---preventing…
This paper describes the kinematics of the motion tracking of a rigid body using video recording. The novelty of the paper is on the adaptation of the methods and nomenclature used in Computer Vision to those used in Multibody System…
The problem of tracking self-motion as well as motion of objects in the scene using information from a camera is known as multi-body visual odometry and is a challenging task. This paper proposes a robust solution to achieve accurate…
Feature tracking is a fundamental problem in computer vision, with applications in many computer vision tasks, such as visual SLAM and action recognition. This paper introduces a novel multi-body feature tracker that exploits a multi-body…
This paper proposes a systematic and novel component level co-rotational (CR) framework, for upgrading existing 3D continuum finite elements to flexible multibody analysis. Without using any model reduction techniques, the high efficiency…
Realistic scene reconstruction in driving scenarios poses significant challenges due to fast-moving objects. Most existing methods rely on labor-intensive manual labeling of object poses to reconstruct dynamic objects in canonical space and…
Conventional structure-from-motion (SFM) research is primarily concerned with the 3D reconstruction of a single, rigidly moving object seen by a static camera, or a static and rigid scene observed by a moving camera --in both cases there…
Simulating large-scale articulated assemblies poses a significant challenge due to the numerical stiffness and geometric complexity of jointed structures. Conventional rigid body solvers struggle with the high nonlinearity induced by…
This paper presents a novel framework for Jacobian computation in motion optimization problems involving multi-link systems, where physical quantities are represented using higher-order time derivatives. In motion optimization of robots and…
In this paper, we aim to model 3D scene geometry, appearance, and physical information just from dynamic multi-view videos in the absence of any human labels. By leveraging physics-informed losses as soft constraints or integrating simple…
In this paper, we present a novel general framework grounded in the factor graph theory to solve kinematic and dynamic problems for multi-body systems. Although the motion of multi-body systems is considered to be a well-studied problem and…
A novel approach is presented for computing flexible body dynamics based on conventional structural dynamics models. This approach innovatively captures the rigid body motion component embedded within a flexible body's movement, generates…
Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…
We present a Total Lagrangian finite element framework for finite-deformation multibody dynamics. The framework combines a compact kinematic representation, a deformation-gradient-based formulation, an element-agnostic constitutive…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
This technical report provides an in-depth evaluation of both established and state-of-the-art methods for simulating constrained rigid multi-body systems with hard-contact dynamics, using formulations of Nonlinear Complementarity Problems…
The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…
Modern multi-object tracking (MOT) system usually involves separated modules, such as motion model for location and appearance model for data association. However, the compatible problems within both motion and appearance models are always…