Related papers: Polyhedral Collision Detection via Vertex Enumerat…

In this paper, we introduce a generalized continuous collision detection (CCD) framework for the mobile robot along the polynomial trajectory in cluttered environments including various static obstacle models. Specifically, we find that the…

Automatic detection of traffic accidents is an important emerging topic in traffic monitoring systems. Nowadays many urban intersections are equipped with surveillance cameras connected to traffic management systems. Therefore, computer…

Swept volume computation, the determination of regions occupied by moving objects, is essential in graphics, robotics, and manufacturing. Existing approaches either explicitly track surfaces, suffering from robustness issues under complex…

We present a simple and efficient acceleration technique for an arbitrary method for computing the Euclidean projection of a point onto a convex polytope, defined as the convex hull of a finite number of points, in the case when the number…

We study the computational complexity of determining the Hausdorff distance of two polytopes given in halfspace- or vertex-presentation in arbitrary dimension. Subsequently, a matching problem is investigated where a convex body is allowed…

An important application of intelligent vehicles is advance detection of dangerous events such as collisions. This problem is framed as a problem of optimal alarm choice given predictive models for vehicle location and motion. Techniques…

Simulating rigid-body dynamics with contact in a fast, massively vectorizable, and smoothly differentiable manner is highly desirable in robotics. An important bottleneck faced by existing differentiable simulation frameworks is contact…

Interactive bodies collision detection and elimination is one of the most popular task nowadays. Collisions can be detected in different ways. Collision search using space voxelization is one of the most fast. This paper describes improved…

The on-board 3D object detection technology has received extensive attention as a critical technology for autonomous driving, while few studies have focused on applying roadside sensors in 3D traffic object detection. Existing studies…

Addressing irregular cutting and packing (C&P) optimization problems poses two distinct challenges: the geometric challenge of determining whether or not an item can be placed feasibly at a certain position, and the optimization challenge…

While road obstacle detection techniques have become increasingly effective, they typically ignore the fact that, in practice, the apparent size of the obstacles decreases as their distance to the vehicle increases. In this paper, we…

Collision detection is essential to virtually all robotics applications. However, traditional geometric collision detection methods generally require pre-existing workspace geometry representations; thus, they are unable to infer the…

In this paper, we present a more efficient GJK algorithm to solve the collision detection and distance query problems in 2D. We contribute in two aspects: First, we propose a new barycode-based sub-distance algorithm that does not only…

Motion planning for robotic manipulators relies on precise knowledge of the environment in order to be able to define restricted areas and to take collision objects into account. To capture the workspace, point clouds of the environment are…

We study multilevel techniques, commonly used in PDE multigrid literature, to solve structured optimization problems. For a given hierarchy of levels, we formulate a coarse model that approximates the problem at each level and provides a…

Approximate convex decomposition aims to decompose a 3D shape into a set of almost convex components, whose convex hulls can then be used to represent the input shape. It thus enables efficient geometry processing algorithms specifically…

We consider nonconvex obstacle avoidance where a robot described by nonlinear dynamics and a nonconvex shape has to avoid nonconvex obstacles. Obstacle avoidance is a fundamental problem in robotics and well studied in control. However,…

Point cloud models are a common shape representation for several reasons. Three-dimensional scanning devices are widely used nowadays and points are an attractive primitive for rendering complex geometry. Nevertheless, there is not much…

Detecting road obstacles is essential for autonomous vehicles to navigate dynamic and complex traffic environments safely. Current road obstacle detection methods typically assign a score to each pixel and apply a threshold to generate…

In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…