Related papers: Polyhedral Collision Detection via Vertex Enumerat…
We present a fast algorithm for global rigid symmetry detection with approximation guarantees. The algorithm is guaranteed to find the best approximate symmetry of a given shape, to within a user-specified threshold, with very high…
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…
Symmetry is a fundamental concept that has been extensively studied, yet detecting it in complex scenes remains a significant challenge in computer vision. Recent heatmap-based approaches can localize potential regions of symmetry axes but…
We present a real-time algorithm that finds the Penetration Depth (PD) between general polygonal models based on iterative and local optimization techniques. Given an in-collision configuration of an object in configuration space, we find…
We consider minimization problems with bisubmodular objective functions. We propose valid inequalities, namely the poly-bimatroid inequalities, and provide a complete linear description of the convex hull of the epigraph of a bisubmodular…
We present a convolutional approach to reflection symmetry detection in 2D. Our model, built on the products of complex-valued wavelet convolutions, simplifies previous edge-based pairwise methods. Being parameter-centered, as opposed to…
In this paper the problem of maximizing the distance to a given fixed point over an intersection of balls is considered. It is known that this problem is NP complete in the general case, since any subset sum problem can be solved upon…
For a polyhedron $P$ in $\mathbb{R}^d$, denote by $|P|$ its combinatorial complexity, i.e., the number of faces of all dimensions of the polyhedra. In this paper, we revisit the classic problem of preprocessing polyhedra independently so…
Autonomous systems need to understand the semantics and geometry of their surroundings in order to comprehend and safely execute object-level task specifications. This paper proposes an expressive yet compact model for joint object pose and…
The detection of small road hazards, such as lost cargo, is a vital capability for self-driving cars. We tackle this challenging and rarely addressed problem with a vision system that leverages appearance, contextual as well as geometric…
A polyhedral approximation of a convex body can be calculated by solving approximately an associated multiobjective convex program (MOCP). An MOCP can be solved approximately by Benson type algorithms, which compute outer and inner…
This paper discusses improvements to the numerical robustness of the algorithm described in Kasper Fauerby's "Improved Collision Detection and Response." The algorithm addresses a common collision detection query: a moving sphere or…
Collision detection via visual fences can significantly enhance the safety of collaborative robotic arms. Existing work typically performs such detection based on pre-deployed stationary cameras outside the robotic arm's workspace. These…
Line intersection with convex and un-convex polygons or polyhedron algorithms are well known as line clipping algorithms and very often used in computer graphics. Rendering of geometrical problems often leads to ray tracing techniques, when…
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…
Collision-free motion planning in complex outdoor environments relies heavily on perceiving the surroundings through exteroceptive sensors. A widely used approach represents the environment as a voxelized Euclidean distance field, where…
We provide a solution method for the polyhedral convex set optimization problem, that is, the problem to minimize a set-valued mapping with polyhedral convex graph with respect to a set ordering relation which is generated by a polyhedral…
Parallel robots (PRs) allow for higher speeds in human-robot collaboration due to their lower moving masses but are more prone to unintended contact. For a safe reaction, knowledge of the location and force of a collision is useful. A novel…
Motion planning is a central challenge in robotics, with learning-based approaches gaining significant attention in recent years. Our work focuses on a specific aspect of these approaches: using machine-learning techniques, particularly…
In this work, we propose a new segmentation algorithm for images containing convex objects present in multiple shapes with a high degree of overlap. The proposed algorithm is carried out in two steps, first we identify the visible contours,…