5 papers
Closed-Form Minkowski Sums of Convex Bodies with Smooth Positively Curved Boundaries
Sipu Ruan, Gregory S. Chirikjian
This article derives closed-form parametric formulas for the Minkowski sums of convex bodies in d-dimensional Euclidean space with boundaries that are smooth and have all positive…
Quotienting Impertinent Camera Kinematics for 3D Video Stabilization
Thomas W. Mitchel, Christian Wuelker, Jin Seob Kim +2
With the recent advent of methods that allow for real-time computation, dense 3D flows have become a viable basis for fast camera motion estimation. Most importantly, dense flows a…
Quantizing Euclidean motions via double-coset decomposition
Christian Wülker, Gregory S. Chirikjian
Concepts from mathematical crystallography and group theory are used here to quantize the group of rigid-body motions, resulting in a "motion alphabet" with which to express robot…
Signal Alignment for Humanoid Skeletons via the Globally Optimal Reparameterization Algorithm
Thomas W. Mitchel, Sipu Ruan, Gregory S. Chirikjian
The general ability to analyze and classify the 3D kinematics of the human form is an essential step in the development of socially adept humanoid robots. A variety of different ty…
The Globally Optimal Reparameterization Algorithm: an Alternative to Fast Dynamic Time Warping for Action Recognition in Video Sequences
Thomas Mitchel, Sipu Ruan, Yixin Gao +1
Signal alignment has become a popular problem in robotics due in part to its fundamental role in action recognition. Currently, the most successful algorithms for signal alignment…