Related papers: OptCtrlPoints: Finding the Optimal Control Points …

We consider discretized two-dimensional PDE-constrained shape optimization problems, in which shapes are represented by triangular meshes. Given the connectivity, the space of admissible vertex positions was recently identified to be a…

We present a practical approach to solving distance-based optimization problems using optical computing hardware. The objective is to minimize an energy function defined as the weighted sum of squared differences between measured distances…

Achieving quantum-limited motional control of optically trapped particles beyond the sub-micrometer scale is an outstanding problem in levitated optomechanics. A key obstacle is solving the light scattering problem and identifying particle…

We describe a convex programming approach to the calculation of lower bounds on the minimum cost of constrained decentralized control problems with nonclassical information structures. The class of problems we consider entail the…

Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…

DUSt3R has recently shown that one can reduce many tasks in multi-view geometry, including estimating camera intrinsics and extrinsics, reconstructing the scene in 3D, and establishing image correspondences, to the prediction of a pair of…

Solving optimal control problems (OCPs) of autonomous agents operating under spatial and temporal constraints fast and accurately is essential in applications ranging from eco-driving of autonomous vehicles to quadrotor navigation. However,…

Point clouds are a very efficient way to represent volumetric data in medical imaging. First, they do not occupy resources for empty spaces and therefore can avoid trade-offs between resolution and field-of-view for voxel-based 3D…

The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…

We present a mathematical and algorithmic scheme for learning the principal geometric elements in an image or 3D object. We build on recent work that convexifies the basic problem of finding a combination of a small number shapes that…

This paper focuses on a research problem of robotic controlled laser orientation to minimize errant overcutting of healthy tissue during the course of pathological tissue resection. Laser scalpels have been widely used in surgery to remove…

We address the problem of 3D shape completion from sparse and noisy point clouds, a fundamental problem in computer vision and robotics. Recent approaches are either data-driven or learning-based: Data-driven approaches rely on a shape…

Dictionary learning is the task of determining a data-dependent transform that yields a sparse representation of some observed data. The dictionary learning problem is non-convex, and usually solved via computationally complex iterative…

Large-volume optical coherence tomography (OCT)-setups employ scanning mirrors and suffer from non-linear geometric distortion artifacts in which the degree of distortion is determined by the maximum angles over which the mirrors rotate. In…

The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…

Accurate 3D shape abstraction from a single 2D image is a long-standing problem in computer vision and graphics. By leveraging a set of primitives to represent the target shape, recent methods have achieved promising results. However, these…

We propose a new method for shape recognition and retrieval based on dynamic programming. Our approach uses the dynamic programming algorithm to compute the optimal score and to find the optimal alignment between two strings. First, each…

Non-rigid shape deformations pose significant challenges, and most existing methods struggle to handle partial deformations effectively. We propose to learn deformations at the point level, which allows for localized control of 3D surface…

This paper describes a class of shape optimization problems for optical metamaterials comprised of periodic microscale inclusions composed of a dielectric, low-dimensional material suspended in a non-magnetic bulk dielectric. The shape…

We propose a method to detect and reconstruct multiple 3D objects from a single RGB image. The key idea is to optimize for detection, alignment and shape jointly over all objects in the RGB image, while focusing on realistic and physically…