Ilan Shimshoni

University of Haifa

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Ehud Rivlin

Technion – Israel Institute of Technology

Ayellet Tal

Hebrew University of Jerusalem

Anna Zamansky

University of Haifa

Marcelo Feighelstein

University of Haifa

Daniel S. Mills

University of Lincoln

Stélio Pacca Loureiro Luna

Universidade Estadual Paulista (Unesp)

Michael Kolomenkin

Herzliya Medical Center

Yael Moses

Reichman University

Tsvi Kuflik

University of Haifa

George Martvel

University of Haifa

Cooperative Institutions

Technion – Israel Institute of Technology

University of Haifa

Google (United States)

Hebrew University of Jerusalem

Tel Aviv University

Massachusetts Institute of Technology

IEEE Computer Society

Google (Israel)

University of California, Berkeley

Carmel (Israel)

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Recognizing surfaces from 3D curves

D. Keren Ehud Rivlin Ilan Shimshoni I. Weiss

A general paradigm for recognizing 3D objects is offered, and applied to some geometric primitives (spheres, cylinders, cones, and tori). The assumption is that a curve on the surface was measured with high accuracy (for instance, by a sensory robot). Differential properties of curves and surfaces are used to recognize the surface. The motivation is twofold: the output of some devices is not surface range data, but curves. So, surface invariants, which may be simpler in some cases, cannot always be obtained. Also, a considerable speedup is obtained by using curve data, as opposed to surface data which usually contain a much higher number of points.

Geometric design

Computational Geometry

Speedup

10.1109/icip.1998.727325

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Citations (1)

Epipolar Geometry Estimation for Urban Scenes with Repetitive Structures

Lecture notes in computer science (2013)

Maria Kushnir Ilan Shimshoni

Epipolar geometry

Homography

Benchmark (surveying)

Matrix (chemical analysis)

10.1007/978-3-642-37447-0_13

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Citations (2)

On mobile robot localization from landmark bearings

Ilan Shimshoni

Deals with the problem of robot localization from noisy landmark bearings measured by the robot. We present a localization method which is based on linear constraints, one due to each bearing measurement. This linear system can be solved at low computational cost but yields not very accurate results. We therefore transform the system to an equivalent linear system which yields virtually optimal results at a small fraction of the cost of a nonlinear optimization method which usually achieves the optimal result. Experimental results showing the quality of the results and the low computational cost are presented.

Landmark

Fraction (chemistry)

10.1109/robot.2001.933177

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Citations (4)

Visual homing: surfing on the epipoles

Ronen Basri Ehud Rivlin Ilan Shimshoni

Epipolar geometry

Robustness

Position (finance)

10.1109/iccv.1998.710818

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Citations (35)

Towards a Motion Planner A: Model and Fanlework

A. Adam Ehud Rivlin Ilan Shimshoni

We address the problem of rating or wmparing nav 'lgat1On algorithms, or more generally navigation pack ages. For a given environment a navigation package consists of a motion planner and a sensor to be Hsed during navigation. The ability to rate or 'Tr/.eaStlre a TUm19ation package is important in order to address 1ssues like sensor C'I1stomization for an environment and choice of a motion planner in an environment.

Planner

Source

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Computer Vision and Robotics for Cultural Heritage: Theory and Applications

Journal of Imaging (2022)

Guillaume Caron Olga Regina Pereira Bellon Ilan Shimshoni

Computer vision and robotics are more and more involved in cultural heritage [...]

10.3390/jimaging9010009

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Citations (1)

Image-based robot navigation in unknown indoor environments

Ehud Rivlin Ilan Shimshoni E. Smolyar

This paper presents a method for image based robot navigation under the full perspective model. The robot navigates through unknown indoor environments. A target image is taken from an unconstrained position in the environment and given to the robot. The robot starts at an arbitrary position and navigates to the position at which the target image was taken. The approach is based on using images of the environment taken by the robot at different positions along the path and comparing them with a target image. No extraction of 3D models of the scene is needed. The robot finds automatically an image which shows part of the environment shown in the target image. It then moves on the floor, takes pictures with its camera, finds corresponding features in the current and target image, and uses them to extract the motion parameters to the target location. All these steps are performed automatically. This paper describes experimental results performed with a Nomad XR4000 mobile robot These experiments show the feasibility and the significant benefits of our approach.

Position (finance)

Mobile Robot Navigation

10.1109/iros.2003.1249284

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Citations (12)

Computer-based, automatic recording and illustration of complex archaeological artifacts

Journal of Archaeological Science (2012)

Ayelet Gilboa Ayellet Tal Ilan Shimshoni Michael Kolomenkin

Line drawings

Visibility

10.1016/j.jas.2012.09.018

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Citations (62)

Automated Detection of Cat Facial Landmarks

International Journal of Computer Vision (2024)

George Martvel Ilan Shimshoni Anna Zamansky

Landmark

10.1007/s11263-024-02006-w

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Citations (13)

TEMPORAL COHERENCE IN BOUNDING VOLUME HIERARCHIES FOR COLLISION DETECTION

International Journal of Shape Modeling (2006)

Oren Tropp Ayellet Tal Ilan Shimshoni David Dobkin

Collision detection is a fundamental problem in computer graphics. In this paper, temporal coherence is studied and an algorithm exploiting it for bounding volume hierarchies, is presented. We show that maintaining some of the intersection tests computed in the previous frame, along with certain information, is able to speedup the intersection tests considerably. The algorithm is able to accelerate the collision detection for small motions and works as fast as the regular algorithm for large motions, where temporal coherence does not exist. The algorithm framework can be implemented for any type of bounding volume hierarchy. To demonstrate this, it was implemented for the OBB and the AABB data structures and tested on several benchmark scenarios.

Bounding volume

Bounding overwatch

10.1142/s0218654306000883

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Citations (11)