相关论文: Free Space of Rigid Objects: Caging, Path Non-Exis…

In this paper, we compute a conservative approximation of the path-connected components of the free space of a rigid object in a 2D workspace in order to solve two closely related problems: to determine whether there exists a collision-free…

We present a sampling-based approach to reasoning about the caging-based manipulation of rigid and a simplified class of deformable 3D objects subject to energy constraints. Towards this end, we propose the notion of soft fixtures extending…

Real-world object manipulation has been commonly challenged by physical uncertainties and perception limitations. Being an effective strategy, while caging configuration-based manipulation frameworks have successfully provided robust…

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…

Robots-operating autonomous assembly applications in an unstructured environment require precise methods to locate the building components on site. However, the current available object detection systems are not well-optimised for…

Path planning has long been one of the major research areas in robotics, with PRM and RRT being two of the most effective classes of planners. Though generally very efficient, these sampling-based planners can become computationally…

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…

In this paper, we propose an advanced methodology for the detection of 3D objects and precise estimation of their spatial positions from a single image. Unlike conventional frameworks that rely solely on center-point and dimension…

Simulations of many rigid bodies colliding with each other sometimes yield particularly interesting results if the colliding objects differ significantly in size and are non-spherical. The most expensive part within such a simulation code…

The motion of deformable 4D objects lies in a low-dimensional manifold. To better capture the low dimensionality and enable better controllability, traditional methods have devised several heuristic-based methods, i.e., rigging, for…

Object recognition has seen significant progress in the image domain, with focus primarily on 2D perception. We propose to leverage existing large-scale datasets of 3D models to understand the underlying 3D structure of objects seen in an…

This study investigates the exact geometry of the configuration space in three-dimensional rotational motion planning. A parameterization of configuration space obstacles is derived for a given triangulated or ball-approximated scene with…

Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…

The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…

We present a novel method to infer, in closed-form, a general 3D spatial occupancy and orientation of a collection of rigid objects given 2D image detections from a sequence of images. In particular, starting from 2D ellipses fitted to…

Path planning for 3D solid objects is a challenging problem, requiring a search in a six-dimensional configuration space, which is, nevertheless, essential in many robotic applications such as bin-picking and assembly. The commonly used…

3D object detection is one of the most important tasks for the perception systems of autonomous vehicles. With the significant success in the field of 2D object detection, several monocular image based 3D object detection algorithms have…

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…

For configurations of point-sets that are pairwise constrained by distance intervals, the EASAL software implements a suite of algorithms that characterize the structure and geometric properties of the configuration space. The algorithms…

Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…