Related papers: Haptic-based Complementary Filter for Rigid Body R…

The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…

In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…

Panoramic semantic segmentation models are typically trained under a strict gravity-aligned assumption. However, real-world captures often deviate from this canonical orientation due to unconstrained camera motions, such as the rotational…

Fast methods for convolution and correlation underlie a variety of applications in computer vision and graphics, including efficient filtering, analysis, and simulation. However, standard convolution and correlation are inherently limited…

We propose a combinatorial solution for the problem of non-rigidly matching a 3D shape to 3D image data. To this end, we model the shape as a triangular mesh and allow each triangle of this mesh to be rigidly transformed to achieve a…

We propose a new compressive imaging method for reconstructing 2D or 3D objects from their scattered wave-field measurements. Our method relies on a novel, nonlinear measurement model that can account for the multiple scattering phenomenon,…

Haptic feedback is important to make robots more dexterous and effective in unstructured environments. High-resolution haptic sensors are still not widely available, and their application is often bound by the resolution-robustness dilemma.…

This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…

Robotic in-hand manipulation requires reliable object-motion tracking under frequent visual occlusion, yet low-texture visuotactile images provide few stable correspondences for conventional image- or geometry-matching methods. This paper…

This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…

This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid…

In many real-world settings, image observations of freely rotating 3D rigid bodies, such as satellites, may be available when low-dimensional measurements are not. However, the high-dimensionality of image data precludes the use of…

The rich information content of measurements in the molecular frame rather than the laboratory frame has motivated the development of several methods for aligning gas phase molecules in space. Even so, for asymmetric tops the problem of…

Deep learning has enabled remarkable improvements in grasp synthesis for previously unseen objects from partial object views. However, existing approaches lack the ability to explicitly reason about the full 3D geometry of the object when…

Accurate camera motion estimation is a fundamental building block for many Computer Vision algorithms. For improved robustness, temporal consistency of translational and rotational camera velocity is often assumed by propagating motion…

We present new algorithms to perform fast probabilistic collision queries between convex as well as non-convex objects. Our approach is applicable to general shapes, where one or more objects are represented using Gaussian probability…

Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear…

This paper analyzes the nonlinear correspondence between the reflectivity profile (model) and the plane wave impulse response at the boundary (data) for a three-dimensional half space consisting of a sequence of homogeneous horizontal…

Deformable parts models show a great potential in tracking by principally addressing non-rigid object deformations and self occlusions, but according to recent benchmarks, they often lag behind the holistic approaches. The reason is that…

Correlation is a common technique for the detection of shifts. Its generalization to the multidimensional geometric correlation in Clifford algebras has proven a useful tool for color image processing, because it additionally contains…