Related papers: Separation-Sensitive Collision Detection for Conve…
While generic object detection has achieved large improvements with rich feature hierarchies from deep nets, detecting small objects with poor visual cues remains challenging. Motion cues from multiple frames may be more informative for…
While road obstacle detection techniques have become increasingly effective, they typically ignore the fact that, in practice, the apparent size of the obstacles decreases as their distance to the vehicle increases. In this paper, we…
We revisit the problem of property testing for convex position for point sets in $\mathbb{R}^d$. Our results draw from previous ideas of Czumaj, Sohler, and Ziegler (ESA 2000). First, the algorithm is redesigned and its analysis is revised…
We present a method for guaranteed collision detection with toleranced motions. The basic idea is to consider the motion as a curve in the 12-dimensional space of affine displacements, endowed with an object-oriented Euclidean metric, and…
We present a new, simple, fast algorithm to numerically evolve disks of inelastically colliding particles surrounding a central star. Our algorithm adds negligible computational cost to the fastest existing collisionless N-body codes, and…
It is well known that a pair of compact sets in $\mathbb{R}^d$ ($d \in \mathbb{N}$) can be separated by small deformations if the sum of their upper box dimensions is less than $d$. In this paper, we demonstrate that this dimension…
In this paper, we investigate how moving objects can be detected when images are impacted by atmospheric turbulence. We present a geometric spatio-temporal point of view to the problem and show that it is possible to distinguish movement…
In the maximum independent set of convex polygons problem, we are given a set of $n$ convex polygons in the plane with the objective of selecting a maximum cardinality subset of non-overlapping polygons. Here we study a special case of the…
Alternative novel measures of the distance between any two partitions of a n-set are proposed and compared, together with a main existing one, namely 'partition-distance' D(.,.). The comparison achieves by checking their restriction to…
In this work, we propose a new segmentation algorithm for images containing convex objects present in multiple shapes with a high degree of overlap. The proposed algorithm is carried out in two steps, first we identify the visible contours,…
This paper presents a method to compute differentiable collision-free parametric corridors. In contrast to existing solutions that decompose the obstacle-free space into multiple convex sets, the continuous corridors computed by our method…
We propose a novel method utilizing an objectness score for maintaining the locations and classes of objects detected from Mask R-CNN during mobile robot navigation. The objectness score is defined to measure how well the detector…
A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…
Let $d$ be a (well-behaved) shortest-path metric defined on a path-connected subset of $\mathbb{R}^2$ and let $\mathcal{D}=\{D_1,\ldots,D_n\}$ be a set of geodesic disks with respect to the metric $d$. We prove that…
This paper focuses on a novel approach for detecting moving objects during camera motion. We present an optical-flow-based transformation that yields a consistent 2D invariant image output regardless of time instants, range of points in 3D,…
Studying CMEs in coronagraph data can be challenging due to their diffuse structure and transient nature, and user-specific biases may be introduced through visual inspection of the images. The large amount of data available from the SOHO,…
We study the problem of determining optimal coordinated motions for two disc robots in an otherwise obstacle-free plane. Using the total path length traced by the two disc centres as a measure of distance, we give an exact characterization…
Velocity measurements made from multiple-epoch astronomical images of evolving objects with optically thin continuum emission (e.g. as relativistic jets or expanding supernova shells) may be confused as a result of the overlap of…
Autonomous driving systems require a quick and robust perception of the nearby environment to carry out their routines effectively. With the aim to avoid collisions and drive safely, autonomous driving systems rely heavily on object…
Two planar sets are circularly separable if there exists a circle enclosing one of the sets and whose open interior disk does not intersect the other set. This paper studies two problems related to circular separability. A linear-time…