Related papers: Geometrically exact static 3D Cosserat rods proble…
Simultaneous localization and mapping (SLAM) has achieved impressive performance in static environments. However, SLAM in dynamic environments remains an open question. Many methods directly filter out dynamic objects, resulting in…
We propose a novel framework that enhances non-rigid 3D model deformations by bridging mesh representations with 3D Gaussian splatting. While traditional Gaussian splatting delivers fast, real-time radiance-field rendering, its post-editing…
In the field of 3D dynamic scene reconstruction, how to balance model convergence rate and rendering quality has long been a critical challenge that urgently needs to be addressed, particularly in high-precision modeling of scenes with…
We propose mixed finite element methods for Cosserat materials that use suitable quadrature rules to eliminate the Cauchy and coupled stress variables locally. The reduced system consists of only the displacement and rotation variables.…
Reconstructing dynamic objects from monocular videos is a severely underconstrained and challenging problem, and recent work has approached it in various directions. However, owing to the ill-posed nature of this problem, there has been no…
We present a novel approach for the reconstruction of dynamic geometric shapes using a single hand-held consumer-grade RGB-D sensor at real-time rates. Our method does not require a pre-defined shape template to start with and builds up the…
The main objective of this paper is to present a general mathematical model and an associated numerical algorithm applicable to an arbitrary fixed-wing fixed-mass aircraft undergoing an arbitrary maneuver, based on the 3D nonlinear coupled…
Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…
This letter presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view in a panoramic RGB-D camera system. This calibration problem is relevant to applications such as indoor 3D…
We propose a method for deriving equivalent one-dimensional models for slender non-linear structures. The approach is designed to be broadly applicable, and can handle in principle finite strains, finite rotations, arbitrary cross-sections…
Rod-based structures are commonly used in practical applications in science and engineering. However, in many design, analysis, and manufacturing tasks, handling the rod-based structures in three dimensions directly is generally…
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense,…
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is difficult due to the complexity of rope physics and the…
We propose a novel direct transcription and solution method for solving nonlinear, continuous-time dynamic optimization problems. Instead of forcing the dynamic constraints to be satisfied only at a selected number of points as in direct…
The dynamic mode decomposition (DMD) has become a leading tool for data-driven modeling of dynamical systems, providing a regression framework for fitting linear dynamical models to time-series measurement data. We present a simple…
This paper addresses the challenge of novel-view synthesis and motion reconstruction of dynamic scenes from monocular video, which is critical for many robotic applications. Although Neural Radiance Fields (NeRF) and 3D Gaussian Splatting…
A version of the Dynamical Systems Gradient Method for solving ill-posed nonlinear monotone operator equations is studied in this paper. A discrepancy principle is proposed and justified. A numerical experiment was carried out with the new…
We use the standard multiple shooting method to solve a linear two point boundary-value problem. To ensure that the solution obtained by combining the partial solutions is continuous and satisfies the boundary conditions, we have to solve a…
In the point set embeddability problem, we are given a plane graph $G$ with $n$ vertices and a point set $S$ with $n$ points. Now the goal is to answer the question whether there exists a straight-line drawing of $G$ such that each vertex…
Optimal estimation is a promising tool for estimation of payloads' inertial parameters and localization of robots in the presence of multiple contacts. To harness its advantages in robotics, it is crucial to solve these large and…