Related papers: Validation of Dry Bulk Pile Volume Estimation Algo…
Most recent 6D object pose estimation methods first use object detection to obtain 2D bounding boxes before actually regressing the pose. However, the general object detection methods they use are ill-suited to handle cluttered scenes, thus…
This paper presents a trace-based simulation methodology for constructing representations of workload-allocator interaction. We use two-dimensional rectangular bin packing (2DBP) as our foundation. Classical 2DBP algorithms minimize their…
We consider robust estimation of wrapped models to multivariate circular data that are points on the surface of a $p$-torus based on the weighted likelihood methodology.Robust model fitting is achieved by a set of weighted likelihood…
In this work, we present a novel algorithm to perform spill-free handling of open-top liquid-filled containers that operates in cluttered environments. By allowing liquid-filled containers to be tilted at higher angles and enabling motion…
This paper introduces a reduced-order modeling approach based on finite volume methods for hyperbolic systems, combining Proper Orthogonal Decomposition (POD) with the Discrete Empirical Interpolation Method (DEIM) and Proper Interval…
Bin picking is a core problem in industrial environments and robotics, with its main module as 6D pose estimation. However, industrial depth sensors have a lack of accuracy when it comes to small objects. Therefore, we propose a framework…
This study presents a novel algorithm for identifying the set of extreme points that constitute the exact convex hull of a point set in high-dimensional Euclidean space. The proposed method iteratively solves a sequence of dynamically…
Physical feasibility in 3D bin packing is a key requirement in modern industrial logistics and robotic automation. With the growing adoption of industrial automation, online bin packing has gained increasing attention. However,…
Accurate robotic manipulation of test tubes in biology and medical industries is becoming increasingly important to address workforce shortages and improve worker safety. The detection and localization of test tubes are essential for the…
Accurate quantification of local packing density and mixing in simulations of particulate systems is essential for many industrial applications. Traditional methods which simply count the number of particle centres within a given volume of…
Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…
In recent years, the throughput requirements of e-commerce fulfillment warehouses have seen a steep increase. This has resulted in various automation solutions being developed for item picking and movement. In this paper, we address the…
In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…
Characterizing the elastic properties of soft materials through bulge testing relies on accurate measurement of deformation, which is experimentally challenging. To avoid measuring deformation, we propose a hydrodynamic bulge test for…
One of the basic problems in discrete geometry is to determine the most efficient packing of congruent replicas of a given convex set $K$ in the plane or in space. The most commonly used measure of efficiency is density. Several types of…
Monitoring plants and fruits at high resolution play a key role in the future of agriculture. Accurate 3D information can pave the way to a diverse number of robotic applications in agriculture ranging from autonomous harvesting to precise…
We propose a method for estimating the 3D pose for the camera of a mobile device in outdoor conditions, using only an untextured 2D model. Previous methods compute only a relative pose using a SLAM algorithm, or require many registered…
The Container Relocation Problem (CRP) is concerned with finding a sequence of moves of containers that minimizes the number of relocations needed to retrieve all containers respecting a given order of retrieval. While the problem is known…
Accurate food volume estimation is crucial for dietary monitoring, medical nutrition management, and food intake analysis. Existing 3D Food Volume estimation methods accurately compute the food volume but lack for food portions selection.…
For evaluation of the undrained thermo-poro-elastic properties of saturated porous materials in conventional triaxial cells, it is important to take into account the effect of the dead volume of the drainage system. The compressibility and…