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The discrimination and simplicity of features are very important for effective and efficient pedestrian detection. However, most state-of-the-art methods are unable to achieve good tradeoff between accuracy and efficiency. Inspired by some…
The detection of small objects, particularly traffic signs, is a critical subtask within object detection and autonomous driving. Despite the notable achievements in previous research, two primary challenges persist. Firstly, the main issue…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
Current Human-Robot Interaction (HRI) systems for skill teaching are fragmented, and existing approaches in the literature do not offer a cohesive framework that is simultaneously efficient, intuitive, and universally safe. This paper…
Dynamic scene rendering and reconstruction play a crucial role in computer vision and augmented reality. Recent methods based on 3D Gaussian Splatting (3DGS), have enabled accurate modeling of dynamic urban scenes, but for urban scenes they…
This paper presents a novel post-processing methodology for extracting high-quality geometries from density-based topology optimization results. Current post-processing approaches often struggle to simultaneously achieve smooth boundaries,…
Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…
Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging High-Order Control Barrier Functions (HOCBFs) constructed for safe…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
We present a simple algorithm for differentiable rendering of surfaces represented by Signed Distance Fields (SDF), which makes it easy to integrate rendering into gradient-based optimization pipelines. To tackle visibility-related…
Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movements while avoiding collisions. Human skeletal keypoints are…
In the field of autonomous driving, 3D object detection is a very important perception module. Although the current SOTA algorithm combines Camera and Lidar sensors, limited by the high price of Lidar, the current mainstream landing schemes…
Effectively describing features for cross-modal remote sensing image matching remains a challenging task due to the significant geometric and radiometric differences between multimodal images. Existing methods primarily extract features at…
Dynamic jumping on high platforms and over gaps differentiates legged robots from wheeled counterparts. Dynamic locomotion on abrupt surfaces, as opposed to walking on rough terrains, demands the integration of proprioceptive and…
The ability to map and estimate the activity of radiological source distributions in unknown three-dimensional environments has applications in the prevention and response to radiological accidents or threats as well as the enforcement and…
The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…
This paper proposes an online friction coefficient identification framework for legged robots on slippery terrain. The approach formulates the optimization problem to minimize the sum of residuals between actual and predicted states…
From a geometric perspective most nonlinear binary classification algorithms, including state of the art versions of Support Vector Machine (SVM) and Radial Basis Function Network (RBFN) classifiers, and are based on the idea of…
Infrastructure-based sensing and real-time trajectory generation show promise for improving safety in high-risk roadway segments such as work zones, yet practical deployments are hindered by perspective distortion, complex geometry,…
Scene model construction based on image rendering is an indispensable but challenging technique in computer vision and intelligent transportation systems. In this paper, we propose a framework for constructing 3D corridor-based road scene…