相关论文: Fast, Robust, Permutation-and-Sign Invariant SO(3)…
The multi-sensory setups consisting of the laser scanners and cameras are popular as the measurements complement each other and provide necessary robustness for applications. Under dynamic conditions or when in motion, a direct…
Many robot manipulation tasks can be framed as geometric reasoning tasks, where an agent must be able to precisely manipulate an object into a position that satisfies the task from a set of initial conditions. Often, task success is defined…
This technical note aims to introduce geometric controllers to roboticists for aligning \emph{3D robots} with non-constant 3D vector fields. This alignment entails the control of the robot's 3D attitude. We derive with excessive detail all…
End-to-end learning for visual robotic manipulation is known to suffer from sample inefficiency, requiring large numbers of demonstrations. The spatial roto-translation equivariance, or the SE(3)-equivariance can be exploited to improve the…
Intraoperative 2D/3D registration aligns preoperative 3D volumes with real-time 2D radiographs, enabling accurate localization of instruments and implants. A recent fully differentiable similarity learning framework approximates geodesic…
Sign language recognition (SLR) refers to interpreting sign language glosses from given videos automatically. This research area presents a complex challenge in computer vision because of the rapid and intricate movements inherent in sign…
Recent works in medical image registration have proposed the use of Implicit Neural Representations, demonstrating performance that rivals state-of-the-art learning-based methods. However, these implicit representations need to be optimized…
We assume the permutation $\pi$ is given by an $n$-element array in which the $i$-th element denotes the value $\pi(i)$. Constructing its inverse in-place (i.e. using $O(\log{n})$ bits of additional memory) can be achieved in linear time…
A well known numerical task is the inversion of large symmetric tridiagonal Toeplitz matrices, i.e., matrices whose entries equal $a$ on the diagonal and $b$ on the extra diagonals ($a, b\in \mathbb R$). The inverses of such matrices are…
We compute the two-point correlation functions for the spin-3 theory in three dimensional (Anti-) de Sitter spacetimes by using holographic renormalisation. For the AdS case, we find results consistent with the general requirements of…
Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for…
This paper deals with the leader-follower attitude synchronization problem for a group of heterogeneous rigid body systems on $SO(3)$ under an undirected, connected, and acyclic graph communication topology. The proposed distributed control…
Optical marker-based motion capture is a vital tool in applications such as motion and behavioural analysis, animation, and biomechanics. Labelling, that is, assigning optical markers to the pre-defined positions on the body is a time…
Fast spin-echo (FSE) pulse sequences for Magnetic Resonance Imaging (MRI) offer important imaging contrast in clinically feasible scan times. T2-shuffling is widely used to resolve temporal signal dynamics in FSE acquisitions by exploiting…
We propose methods for estimating correspondence between two point sets under the presence of outliers in both the source and target sets. The proposed algorithms expand upon the theory of the regression without correspondence problem to…
Self-supervised learning (SSL) methods have achieved remarkable success in learning image representations allowing invariances in them - but therefore discarding transformation information that some computer vision tasks actually require.…
Tuning interactions in the spin singlet and quintet channels of two colliding atoms could change the symmetry of the one-dimensional spin-3/2 fermionic systems of ultracold atoms while preserving the integrability. Here we find a novel…
We study the problem of extracting accurate correspondences for point cloud registration. Recent keypoint-free methods have shown great potential through bypassing the detection of repeatable keypoints which is difficult to do especially in…
Registration is a fundamental but critical task in point cloud processing, which usually depends on finding element correspondence from two point clouds. However, the finding of reliable correspondence relies on establishing a robust and…
For homogeneous higher gradient elasticity models we discuss frame-indifference and isotropy requirements. To this end, we introduce the notions of local versus global SO(3)-invariance and identify frame-indifference (traditionally) with…