no code implementations • 7 Jan 2024 • Jikai Ye, Gregory S. Chirikjian
We address the problem of uncertainty propagation and Bayesian fusion on unimodular Lie groups.
no code implementations • 6 Dec 2023 • Jikai Ye, Amitesh S. Jayaraman, Gregory S. Chirikjian
This paper addresses uncertainty propagation on unimodular matrix Lie groups that have a surjective exponential map.
no code implementations • 6 Sep 2023 • Amitesh S. Jayaraman, Jikai Ye, Gregory S. Chirikjian
Dynamic state estimation, as opposed to kinematic state estimation, seeks to estimate not only the orientation of a rigid body but also its angular velocity, through Euler's equations of rotational motion.
1 code implementation • CVPR 2023 • Weixiao Liu, Yuwei Wu, Sipu Ruan, Gregory S. Chirikjian
Representing complex objects with basic geometric primitives has long been a topic in computer vision.
no code implementations • 28 Mar 2022 • Yuwei Wu, Weixiao Liu, Sipu Ruan, Gregory S. Chirikjian
In this paper, we propose a novel non-parametric Bayesian statistical method to infer an abstraction, consisting of an unknown number of geometric primitives, from a point cloud.
1 code implementation • CVPR 2022 • Weixiao Liu, Yuwei Wu, Sipu Ruan, Gregory S. Chirikjian
Among geometric primitives, superquadrics are well known for their ability to represent a wide range of shapes with few parameters.
1 code implementation • 5 Aug 2020 • Hongtao Wu, Gregory S. Chirikjian
In this letter, we propose a novel method for robots to "imagine" the open containability affordance of a previously unseen object via physical simulations.
1 code implementation • 17 Sep 2019 • Hongtao Wu, Deven Misra, Gregory S. Chirikjian
In our method, the robot "imagines" the affordance of an arbitrarily oriented object as a chair by simulating a physical sitting interaction between an articulated human body and the object.
no code implementations • 30 Apr 2019 • He Chen, Gregory S. Chirikjian
In this paper, a novel signature of human action recognition, namely the curvature of a video sequence, is introduced.
no code implementations • 21 Mar 2019 • Thomas W. Mitchel, Christian Wuelker, Jin Seob Kim, Sipu Ruan, Gregory S. Chirikjian
The foundation of this approach is a novel camera motion model that allows for real-world camera poses to be recovered directly from 3D motion fields.
no code implementations • 18 Jul 2018 • Thomas W. Mitchel, Sipu Ruan, Gregory S. Chirikjian
Here, we introduce a variant of GORA for humanoid action recognition with skeleton sequences, which we call GORA-S. We briefly review the algorithm's mathematical foundations and contextualize them in the problem of action recognition with skeleton sequences.
no code implementations • 15 Jul 2018 • Thomas Mitchel, Sipu Ruan, Yixin Gao, Gregory S. Chirikjian
We compare the performance of GORA with that of the DTW and FastDTW algorithms, in terms of computational efficiency and accuracy in matching signals.