Collision detection

Formal sciences
Theoretical computer science
Algorithms and data structures
Computational geometry

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Blind as a Bat: Audible Echolocation on Small Robots

Martin Vetterli, Mihailo Kolundzija, Adrien Guillaume Olivier Hoffet, Adam James Scholefield, Frederike Dümbgen

For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization, and mapping. Although robots are often equipped with microphones and speakers, the audio modality ...

2022

Reactive Navigation in Crowds for Non-holonomic Robots with Convex Bounding Shape

Aude Billard, Diego Felipe Paez Granados, David Julian Gonon

This paper describes a novel method for non-holonomic robots of convex shape to avoid imminent collisions with moving obstacles. The method's purpose is to assist navigation in crowds by correcting steering from the robot's path planner or driver. We evalu ...

2021

Real-time high-resolution omnidirectional imaging platform for drone detection and tracking

Jean-Philippe Thiran, Selman Ergünay, Yusuf Leblebici, Vladan Popovic, Bilal Demir, Gökçen Nurlu

Drones have become steadily affordable, which raises privacy and security concerns as well as interest in drone detection systems. On the other hand, drone detection is a challenging task due to small dimensions of drones, difficulty of long-distance detec ...

SPRINGER HEIDELBERG2020

Adaptive Isogeometric Methods With Hierarchical Splines: An Overview

Annalisa Buffa, Rafael Vazquez Hernandez

We consider an adaptive isogeometric method (AIGM) based on (truncated) hierarchical B-splines and present the study of its numerical properties. By following [10, 12, 11], optimal convergence rates of the AIGM can be proved when suitable approximation cla ...

2019

Point cloud quality evaluation: Towards a definition for test conditions

Touradj Ebrahimi, Evangelos Alexiou, Rafael Xavier Meriade Duarte

Recently stakeholders in the area of multimedia representation and transmission have been looking at plenoptic technologies to improve immersive experience. Among these technologies, point clouds denote a volumetric information representation format with i ...

2019

A low-cost, autonomous mobile platform for limnological investigations, supported by high-resolution mesoscale airborne imagery

David Andrew Barry, Ulrich Lemmin, Htet Kyi Wynn, Anton Ivanov, Beat Marcel Geissmann, Abolfazl Irani Rahaghi, Stepan Tulyakov, Philippe Olivier Paccaud, Ludovic Zulliger, Nawaaz Sidharth Gujja Shaik

Two complementary measurement systems – built upon an autonomous floating craft and a tethered balloon – for lake research and monitoring are presented. The autonomous vehicle was assembled on a catamaran for stability, and is capable of handling a variety ...

2019

Target Detection with Deep Learning in Polarimetric Imaging

Selman Ergünay, Yusuf Leblebici, Süha Kagan Köse

Polarimetric imaging techniques demonstrate enhanced capabilities in advanced object detection tasks with their capability to discriminate man-made objects from natural background surfaces. While spectral signatures carry information only about material pr ...

SPIE-INT SOC OPTICAL ENGINEERING2018

Real-Time Seamless Single Shot 6D Object Pose Prediction

Pascal Fua, Bugra Tekin, Sudipta Sinha

We propose a single-shot approach for simultaneously detecting an object in an RGB image and predicting its 6D pose without requiring multiple stages or having to examine multiple hypotheses. Unlike a recently proposed single-shot technique for this task [ ...

2018

3D Box Proposals from a Single Monocular Image of an Indoor Scene

Mathieu Salzmann, Wei Zhuo

Modern object detection methods typically rely on bounding box proposals as input. While initially popularized in the 2D case, this idea has received increasing attention for 3D bounding boxes. Nevertheless, existing 3D box proposal techniques all assume h ...

ASSOC ADVANCEMENT ARTIFICIAL INTELLIGENCE2018

Obstacle detection for lake-deployed autonomous surface vehicles using RGB imagery

David Andrew Barry, Philippe Olivier Paccaud

We describe and test an obstacle-detection system for small, lake-deployed autonomous surface vehicles (ASVs) that relies on a low-cost, consumer-grade camera and runs on a single-board computer. A key feature of lakes that must be accounted for is the fre ...

2018

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A low-cost, autonomous mobile platform for limnological investigations, supported by high-resolution mesoscale airborne imagery

David Andrew Barry, Ulrich Lemmin, Htet Kyi Wynn, Anton Ivanov, Beat Marcel Geissmann, Abolfazl Irani Rahaghi, Stepan Tulyakov, Philippe Olivier Paccaud, Ludovic Zulliger, Nawaaz Sidharth Gujja Shaik

2019