Related papers: Polyhedral Collision Detection via Vertex Enumerat…
We introduce a method for efficiently computing the exact shortest path to the boundary of a mesh from a given internal point in the presence of self-intersections. We provide a formal definition of shortest boundary paths for…
We present a method for the efficient processing of contact and collision in volumetric elastic models simulated using the Projective Dynamics paradigm. Our approach enables interactive simulation of tetrahedral meshes with more than half a…
In modern production facilities industrial robots and humans are supposed to interact sharing a common working area. In order to avoid collisions, the distances between objects need to be measured conservatively which can be done by a…
Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…
In this paper, we propose a pixel-wise method named TextCohesion for scene text detection, which splits a text instance into five key components: a Text Skeleton and four Directional Pixel Regions. These components are easier to handle than…
For many applications, we need to use techniques to represent convex shapes and objects. In this work, we use level set method to represent shapes and find a necessary and sufficient condition on the level set function to guarantee the…
This article is concerned with the problem of approximating a not necessarily bounded spectrahedral shadow, a certain convex set, by polyhedra. By identifying the set with its homogenization the problem is reduced to the approximation of a…
Distance metric learning aims to learn from the given training data a valid distance metric, with which the similarity between data samples can be more effectively evaluated for classification. Metric learning is often formulated as a…
The Polyak stepsize has been widely used in subgradient methods for non-smooth convex optimization. However, calculating the stepsize requires the optimal value, which is generally unknown. Therefore, dynamic estimations of the optimal…
The problem of minimizing the difference of two convex functions is called polyhedral d.c. optimization problem if at least one of the two component functions is polyhedral. We characterize the existence of global optimal solutions of…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
Regular object detection methods output rectangle bounding boxes, which are unable to accurately describe the actual object shapes. Instance segmentation methods output pixel-level labels, which are computationally expensive for real-time…
We consider the problem of approximating the solution of variational problems subject to the constraint that the admissible functions must be convex. This problem is at the interface between convex analysis, convex optimization, variational…
Real-time detection of objects in the 3D scene is one of the tasks an autonomous agent needs to perform for understanding its surroundings. While recent Deep Learning-based solutions achieve satisfactory performance, their high…
In this paper we describe a methodology for the identification of symmetric quadrature rules inside of quadrilaterals, triangles, tetrahedra, prisms, pyramids, and hexahedra. The methodology is free from manual intervention and is capable…
The challenge of object categorization in images is largely due to arbitrary translations and scales of the foreground objects. To attack this difficulty, we propose a new approach called collaborative receptive field learning to extract…
Effective fusion of complementary information captured by multi-modal sensors (visible and infrared cameras) enables robust pedestrian detection under various surveillance situations (e.g. daytime and nighttime). In this paper, we present a…
We consider geometric collision-detection problems for modular reconfigurable robots. Assuming the nodes (modules) are connected squares on a grid, we investigate the complexity of deciding whether collisions may occur, or can be avoided,…
During the last years, the emerging field of Augmented & Virtual Reality (AR-VR) has seen tremendousgrowth. At the same time there is a trend to develop low cost high-quality AR systems where computing poweris in demand. Feature points are…
Object shape and pose estimation is a foundational robotics problem, supporting tasks from manipulation to scene understanding and navigation. We present a fast local solver for shape and pose estimation which requires only category-level…