Related papers: Swept Volume Computation with Enhanced Geometric D…

We present a new compressed representation of free trajectories of moving objects. It combines a partial-sums-based structure that retrieves in constant time the position of the object at any instant, with a hierarchical…

Compacting orthogonal drawings is a challenging task. Usually algorithms try to compute drawings with small area or edge length while preserving the underlying orthogonal shape. We present a one-dimensional compaction algorithm that alters…

Spatial perception aims to estimate camera motion and scene structure from visual observations, a problem traditionally addressed through geometric modeling and physical consistency constraints. Recent learning-based methods have…

The pipeline of current robotic pick-and-place methods typically consists of several stages: grasp pose detection, finding inverse kinematic solutions for the detected poses, planning a collision-free trajectory, and then executing the…

3D multi-object tracking aims to uniquely and consistently identify all mobile entities through time. Despite the rich spatiotemporal information available in this setting, current 3D tracking methods primarily rely on abstracted…

The motion of a mechanical system can be defined as a path through its configuration space. Computing such a path has a computational complexity scaling exponentially with the dimensionality of the configuration space. We propose to reduce…

Recent approaches to point tracking are able to recover the trajectory of any scene point through a large portion of a video despite the presence of occlusions. They are, however, too slow in practice to track every point observed in a…

This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object's infinite number of DOF, we propose a…

The intrinsic volumes of a convex body are fundamental invariants that capture information about the average volume of the projection of the convex body onto a random subspace of fixed dimension. The intrinsic volumes also play a central…

3D object tracking is a critical task in autonomous driving systems. It plays an essential role for the system's awareness about the surrounding environment. At the same time there is an increasing interest in algorithms for autonomous cars…

Dense point tracking is a fundamental problem in computer vision, with applications ranging from video analysis to robotic manipulation. State-of-the-art trackers typically rely on cost volumes to match features across frames, but this…

Video depth estimation extends monocular prediction into the temporal domain to ensure coherence. However, existing methods often suffer from spatial blurring in fine-detail regions and temporal inconsistencies. We argue that current…

Shape completion, i.e., predicting the complete geometry of an object from a partial observation, is highly relevant for several downstream tasks, most notably robotic manipulation. When basing planning or prediction of real grasps on…

We propose a novel iterative numerical method to solve the three-dimensional inverse obstacle scattering problem of recovering the shape of the obstacle from far-field measurements. To address the inherent ill-posed nature of the inverse…

In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and…

In this work, we present a new efficient method for convex shape representation, which is regardless of the dimension of the concerned objects, using level-set approaches. Convexity prior is very useful for object completion in computer…

We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…

Region extraction is necessary in a wide range of applications, from object detection in autonomous driving to analysis of subcellular morphology in cell biology. There exist two main approaches: convex hull extraction, for which exact and…

Both a good understanding of geometrical concepts and a broad familiarity with objects lead to our excellent perception of moving objects. The human ability to detect and segment moving objects works in the presence of multiple objects,…

Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…