Related papers: Swept Volume Computation with Enhanced Geometric D…
Collision detection is one of the most time-consuming operations during motion planning. Thus, there is an increasing interest in exploring machine learning techniques to speed up collision detection and sampling-based motion planning. A…
We present a novel approach for the reconstruction of dynamic geometric shapes using a single hand-held consumer-grade RGB-D sensor at real-time rates. Our method does not require a pre-defined shape template to start with and builds up the…
Robot manipulation in unstructured environments requires efficient and reliable Swept Volume Collision Detection (SVCD) for safe motion planning. Traditional discrete methods potentially miss collisions between these points, whereas SVCD…
We introduce a new way to implicitly represent swept volumes in 3D. We first implicitize the base volume and then apply the time-dependent rigid transformation to build an implicit representation of the swept volume. This way, we build a…
Borrowing elementary ideas from solid mechanics and differential geometry, this presentation shows that the volume swept by a regular solid undergoing a wide class of volume-preserving deformations induces a rather natural metric structure…
The ability to simultaneously track and reconstruct multiple objects moving in the scene is of the utmost importance for robotic tasks such as autonomous navigation and interaction. Virtually all of the previous attempts to map multiple…
This paper extends a recently proposed robust computational framework for constructing the boundary representation (brep) of the volume swept by a given smooth solid moving along a one parameter family $h$ of rigid motions. Our extension…
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…
In this work, we propose a detailed computational framework for modelling the envelope of the swept volume, that is the boundary of the volume obtained by sweeping an input solid along a trajectory of rigid motions. Our framework is adapted…
Volumetric maps are widely used in robotics due to their desirable properties in applications such as path planning, exploration, and manipulation. Constant advances in mapping technologies are needed to keep up with the improvements in…
This paper proposes a robust algorithmic and computational framework to address the problem of modeling the volume obtained by sweeping a solid along a trajectory of rigid motions. The boundary representation (simply brep) of the input…
Sweeping is a powerful and versatile method of designing objects. Boundary of volumes (henceforth envelope) obtained by sweeping solids have been extensively investigated in the past, though, obtaining an accurate parametrization of the…
Long-term point tracking is essential to understand non-rigid motion in the physical world better. Deep learning approaches have recently been incorporated into long-term point tracking, but most prior work predominantly functions in 2D.…
Multi-axle autonomous mobile robots (AMRs) are set to revolutionize the future of robotics in logistics. As the backbone of next-generation solutions, these robots face a critical challenge: managing and minimizing the swept volume during…
The key challenge of multi-view indoor 3D object detection is to infer accurate geometry information from images for precise 3D detection. Previous method relies on NeRF for geometry reasoning. However, the geometry extracted from NeRF is…
Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…
We propose novel motion representations for animating articulated objects consisting of distinct parts. In a completely unsupervised manner, our method identifies object parts, tracks them in a driving video, and infers their motions by…
We fully generalize a previously-developed computational geometry tool [1] to perform large-scale simulations of arbitrary two-dimensional faceted surfaces $z = h(x,y)$. Our method uses a three-component facet/edge/junction storage model,…
Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…
Although shape correspondence is a central problem in geometry processing, most methods for this task apply only to two-dimensional surfaces. The neglected task of volumetric correspondence--a natural extension relevant to shapes extracted…