Related papers: Convex Primitive Decomposition for Collision Detec…
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…
Convex hulls are fundamental objects in computational geometry. In moderate dimensions or for large numbers of vertices, computing the convex hull can be impractical due to the computational complexity of convex hull algorithms. In this…
This paper presents a real-time solution for collision detection between objects based on the physics properties. Traditional approaches on collision detection often rely on the geometric relationships that computing the intersections…
We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing…
Meshes are commonly used as 3D maps since they encode the topology of the scene while being lightweight. Unfortunately, 3D meshes are mathematically difficult to handle directly because of their combinatorial and discrete nature. Therefore,…
We present a robust learning algorithm to detect and handle collisions in 3D deforming meshes. Our collision detector is represented as a bilevel deep autoencoder with an attention mechanism that identifies colliding mesh sub-parts. We use…
A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between…
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…
As we begin to consider modeling large, realistic 3D building scenes, it becomes necessary to consider a more compact representation over the polygonal mesh model. Due to the large amounts of annotated training data, which is costly to…
Simulating rigid-body dynamics with contact in a fast, massively vectorizable, and smoothly differentiable manner is highly desirable in robotics. An important bottleneck faced by existing differentiable simulation frameworks is contact…
Vehicle pose estimation with LiDAR is essential in the perception technology of autonomous driving. However, due to incomplete observation measurements and sparsity of the LiDAR point cloud, it is challenging to achieve satisfactory pose…
Collision detection is a core component of robotics applications such as simulation, control, and planning. Traditional algorithms like GJK+EPA compute witness points (i.e., the closest or deepest-penetration pairs between two objects) but…
Decomposition of shapes into (approximate) convex parts is essential for applications such as part-based shape representation, shape matching, and collision detection. In this paper, we propose a novel convex decomposition using a…
We present a principled method for dynamic simulation of rigid bodies in intermittent contact with each other where the contact is assumed to be a non-convex contact patch that can be modeled as a union of convex patches. The prevalent…
Given a set of calibrated images of a scene, we present an approach that produces a simple, compact, and actionable 3D world representation by means of 3D primitives. While many approaches focus on recovering high-fidelity 3D scenes, we…
We present a differentiable formulation of rigid-body contact dynamics for objects and robots represented as compositions of convex primitives. Existing optimization-based approaches simulating contact between convex primitives rely on a…
Collision detection plays an important role in simulation, control, and learning for robotic systems. However, no existing method is differentiable with respect to the configurations of the objects, greatly limiting the sort of algorithms…
The Convex Hull algorithm is one of the most important algorithms in computational geometry, with many applications such as in computer graphics, robotics, and data mining. Despite the advances in the new algorithms in this area, it is…
Convex hulls are fundamental geometric tools used in a number of algorithms. This paper presents a fast, simple to implement and robust Smart Convex Hull (S-CH) algorithm for computing the convex hull of a set of points in E3. This…
Collision detection plays a key role in the simulation of interacting rigid bodies. However, owing to its computational complexity current methods typically prioritize either maximizing processing speed or fidelity to real-world behaviors.…