相关论文: Separation-Sensitive Collision Detection for Conve…

An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear separators only apply to convex sets, these methods require…

A novel object detection method is presented that handles freely rotated objects of arbitrary sizes, including tiny objects as small as $2\times 2$ pixels. Such tiny objects appear frequently in remotely sensed images, and present a…

In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…

We present a real-time algorithm that finds the Penetration Depth (PD) between general polygonal models based on iterative and local optimization techniques. Given an in-collision configuration of an object in configuration space, we find…

We propose a deep convolutional object detector for automated driving applications that also estimates classification, pose and shape uncertainty of each detected object. The input consists of a multi-layer grid map which is well-suited for…

Object detection and recognition are important problems in computer vision. Since these problems are meta-heuristic, despite a lot of research, practically usable, intelligent, real-time, and dynamic object detection/recognition methods are…

The problem of determining whether an object is in motion, irrespective of camera motion, is far from being solved. We address this challenging task by learning motion patterns in videos. The core of our approach is a fully convolutional…

Recent work has exposed the vulnerability of computer vision models to vector field attacks. Due to the widespread usage of such models in safety-critical applications, it is crucial to quantify their robustness against such spatial…

A family of $k$ point sets in $d$ dimensions is well-separated if the convex hulls of any two disjoint subfamilies can be separated by a hyperplane. Well-separation is a strong assumption that allows us to conclude that certain kinds of…

In particle detectors at the Large Hadron Collider, tens of terabytes of data are produced every second from proton-proton collisions occurring at a rate of 40 megahertz. This data rate is reduced to a sustainable level by a real-time event…

For two planar convex bodies, $C$ and $D$, consider a packing $S$ of $n$ positive homothets of $C$ contained in $D$. We estimate the total perimeter of the bodies in $S$, denoted ${\rm per}(S)$, in terms of ${\rm per}(D)$ and $n$. When all…

In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment. However, the problem of evaluating the proximity is…

We develop a deep learning algorithm for contour detection with a fully convolutional encoder-decoder network. Different from previous low-level edge detection, our algorithm focuses on detecting higher-level object contours. Our network is…

The Meeting problem for $k\geq 2$ searchers in a polygon $P$ (possibly with holes) consists in making the searchers move within $P$, according to a distributed algorithm, in such a way that at least two of them eventually come to see each…

We give some sufficient conditions of separation of two sets of integer points by a hyperplane. Our conditions are related to the notion of convexity of sets of integer points and are weaker than existing notions.

We study the problem of determining coordinated motions, of minimum total length, for two arbitrary convex centrally-symmetric (CCS) robots in an otherwise obstacle-free plane. Using the total path length traced by the two robot centres as…

Robot simulators are indispensable tools across many fields, and recent research has significantly improved their functionality by incorporating additional gradient information. However, existing differentiable robot simulators suffer from…

Recently, there has been a considerable attention given to the motion detection problem due to the explosive growth of its applications in video analysis and surveillance systems. While the previous approaches can produce good results, an…

We study separation of a closed box from a max-min convex set by max-min semispace. This can be regarded as an interval extension of known separation results. We give a constructive proof of the separation in the case when the box and the…

Event-based moving object detection is a challenging task, where static background and moving object are mixed together. Typically, existing methods mainly align the background events to the same spatial coordinate system via motion…