相关论文: Efficient n-to-n Collision Detection for Space Deb…

We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…

Motion planning against sensor data is often a critical bottleneck in real-time robot control. For sampling-based motion planners, which are effective for high-dimensional systems such as manipulators, the most time-intensive component is…

3D object detection is one of the most important tasks in 3D vision perceptual system of autonomous vehicles. In this paper, we propose a novel two stage 3D object detection method aimed at get the optimal solution of object location in 3D…

We propose a neural network-based approach for collision detection with deformable objects. Unlike previous approaches based on bounding volume hierarchies, our neural approach does not require an update of the spatial data structure when…

In the last twenty years, unmanned aerial vehicles (UAVs) have garnered growing interest due to their expanding applications in both military and civilian domains. Detecting non-cooperative aerial vehicles with efficiency and estimating…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

Object oriented bounding box tree (OBB-Tree for short) has many applications in collision detection, real-time rendering, etc. It has a wide range of applications. The construction of the hierarchical directed bounding box of the solid mesh…

The safe and efficient operation of Autonomous Mobile Robots (AMRs) in complex environments, such as manufacturing, logistics, and agriculture, necessitates accurate multi-object tracking and predictive collision avoidance. This paper…

We address the important problem of generalizing robotic rearrangement to clutter without any explicit object models. We first generate over 650K cluttered scenes - orders of magnitude more than prior work - in diverse everyday…

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…

Autonomous Vehicles (AVs) use natural images and videos as input to understand the real world by overlaying and inferring digital elements, facilitating proactive detection in an effort to assure safety. A crucial aspect of this process is…

This paper presents a novel and efficient collision checking approach called Updating and Collision Check Skipping Quad-tree (USQ) for multi-robot motion planning. USQ extends the standard quad-tree data structure through a time-efficient…

Intelligent robots rely on object detection models to perceive the environment. Following advances in deep learning security it has been revealed that object detection models are vulnerable to adversarial attacks. However, prior research…

In this paper, we present a simultaneous exploration and object search framework for the application of autonomous trolley collection. For environment representation, a task-oriented environment partitioning algorithm is presented to…

A basic principle in crystal structure determination is that there should be proper distances between adjacent atoms. Therefore, detection of atom bumping is of fundamental significance in structure determination, especially in the direct…

The Binary Space Partitioning-Tree~(BSP-Tree) process was recently proposed as an efficient strategy for space partitioning tasks. Because it uses more than one dimension to partition the space, the BSP-Tree Process is more efficient and…

The rapid proliferation of airborne platforms, including commercial aircraft, drones, and UAVs, has intensified the need for real-time, automated threat assessment systems. Current approaches depend heavily on manual monitoring, resulting…

One approach to designing decision making logic for an aircraft collision avoidance system frames the problem as a Markov decision process and optimizes the system using dynamic programming. The resulting collision avoidance strategy can be…

Space debris poses a significant threat, driving research into active and passive mitigation strategies. This work presents an innovative collision avoidance system utilizing event-based cameras - a novel imaging technology well-suited for…

A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…