Related papers: Haptic-based Complementary Filter for Rigid Body R…
We revisit the gradient based nonlinear attitude complementary filters (observers) on the Special Orthogonal group SO(3) and provide explicit solutions of the norm of the attitude estimation error dynamics. One smooth and two non-smooth…
We investigate methods to calibrate the non-common path aberrations at an adaptive optics system having a wavefront-correcting device working at an extremely high resolution (larger than 150x150). We use focal-plane images collected…
In this paper we observe that information theoretical concepts are valuable tools for extracting information from images and, in particular, information on image symmetries. It is shown that the problem of detecting reflectional and…
An innovative 3-D radar imaging technique is developed for fast and efficient identification and characterization of radar backscattering components of complex objects, when the collected scattered field is made of polarization-diverse…
Spatial filtering of optical fields has widespread applications ranging from beam shaping to optical information processing. However, conventional spatial filters are bulky and alignment-sensitive. Here, we present nonlocal non-Hermitian…
We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact region is a planar non-convex contact patch. Such methods are useful in planning and…
Most invariance-based self-supervised methods rely on single object-centric images (e.g., ImageNet images) for pretraining, learning features that invariant to geometric transformation. However, when images are not object-centric, the…
Image editing and compositing have become ubiquitous in entertainment, from digital art to AR and VR experiences. To produce beautiful composites, the camera needs to be geometrically calibrated, which can be tedious and requires a physical…
Object detection is a main task in computer vision. Template matching is the reference method for detecting objects with arbitrary templates. However, template matching computational complexity depends on the rotation accuracy, being a…
This paper studies 3-D distributed network localization using mixed types of local relative measurements. Each node holds a local coordinate frame without a common orientation and can only measure one type of information (relative position,…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
In this study, an adaptive object deformability-agnostic human-robot collaborative transportation framework is presented. The proposed framework enables to combine the haptic information transferred through the object with the human…
Recent work by McClarren & Hauck [29] suggests that the filtered spherical harmonics method represents an efficient, robust, and accurate method for radiation transport, at least in the two-dimensional (2D) case. We extend their work to the…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
The availability of affordable and portable depth sensors has made scanning objects and people simpler than ever. However, dealing with occlusions and missing parts is still a significant challenge. The problem of reconstructing a (possibly…
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…
This letter presents a novel control solution to the robust global position and heading tracking problem for underactuated vehicles, equipped with single-axis thrust and full torque actuation, operating under strict, user-defined actuation…
Grasp planning and estimation have been a longstanding research problem in robotics, with two main approaches to find graspable poses on the objects: 1) geometric approach, which relies on 3D models of objects and the gripper to estimate…
This paper presents a new axis-based shape representation scheme along with a matching framework to address the problem of generic shape recognition. The main idea is to define the relative spatial arrangement of local symmetry axes and…
In this paper we present a new approach for marker less human motion capture from conventional camera feeds. The aim of our study is to recover 3D positions of key points of the body that can serve for gait analysis. Our approach is based…