Raphael Falque
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View article: 3D imaging for on-farm estimation of live cattle traits and carcass weight prediction
3D imaging for on-farm estimation of live cattle traits and carcass weight prediction Open
This study presents a 3-dimensional (3D) imaging system, operating at processing speed, deployed at a commercial feedlot, that assesses hip height (cm), subcutaneous fat thickness at the P8 site (mm), and hot standard carcass weight (HSCW,…
View article: Real-Time Truly-Coupled Lidar-Inertial Motion Correction and Spatiotemporal Dynamic Object Detection
Real-Time Truly-Coupled Lidar-Inertial Motion Correction and Spatiotemporal Dynamic Object Detection Open
Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of n…
View article: 2Fast-2Lamaa: Large-Scale Lidar-Inertial Localization and Mapping with Continuous Distance Fields
2Fast-2Lamaa: Large-Scale Lidar-Inertial Localization and Mapping with Continuous Distance Fields Open
This paper introduces 2Fast-2Lamaa, a lidar-inertial state estimation framework for odometry, mapping, and localization. Its first key component is the optimization-based undistortion of lidar scans, which uses continuous IMU preintegratio…
View article: Digital Garment Alteration
Digital Garment Alteration Open
Garment alteration is a practical technique to adapt an existing garment to fit a target body shape. Typically executed by skilled tailors, this process involves a series of strategic fabric operations—removing or adding material—to achiev…
View article: Dynamic Object Detection in Range data using Spatiotemporal Normals
Dynamic Object Detection in Range data using Spatiotemporal Normals Open
On the journey to enable robots to interact with the real world where humans, animals, and unpredictable elements are acting as independent agents; it is crucial for robots to have the capability to detect dynamic objects. In this paper, w…
View article: SPaM: soft patch matching for non-rigid pointcloud registration
SPaM: soft patch matching for non-rigid pointcloud registration Open
3d reconstruction of deformable objects in dynamic scenes forms the fundamental basis of many robotic applications. Existing mesh-based approaches compromise registration accuracy, and lose important details due to interpolation and smooth…
View article: Semantic keypoint extraction for scanned animals using multi-depth-camera systems
Semantic keypoint extraction for scanned animals using multi-depth-camera systems Open
Keypoint annotation in point clouds is an important task for 3D reconstruction, object tracking and alignment, in particular in deformable or moving scenes. In the context of agriculture robotics, it is a critical task for livestock automa…
View article: Computational pattern making from 3D garment models
Computational pattern making from 3D garment models Open
We propose a method for computing a sewing pattern of a given 3D garment model. Our algorithm segments an input 3D garment shape into patches and computes their 2D parameterization, resulting in pattern pieces that can be cut out of fabric…
View article: Defect Detection and Segmentation Framework for Remote Field Eddy Current Sensor Data
Defect Detection and Segmentation Framework for Remote Field Eddy Current Sensor Data Open
Remote-Field Eddy-Current (RFEC) technology is often used as a Non-Destructive Evaluation (NDE) method to prevent water pipe failures. By analyzing the RFEC data, it is possible to quantify the corrosion present in pipes. Quantifying the c…
View article: Remote Field Eddy Current Signal Deconvolution and Towards Inverse Modeling
Remote Field Eddy Current Signal Deconvolution and Towards Inverse Modeling Open
Being able to quantify the corrosion of ferromagnetic water pipeline is a critical task for avoiding pipe failures. This task is often performed with Non-Destructive Evaluation (NDE) technologies and solving the inverse modeling of the sen…
View article: Linear Approximation for Mapping Remaining Wall Thickness Using a Magnetic Flux Leakage Sensor
Linear Approximation for Mapping Remaining Wall Thickness Using a Magnetic Flux Leakage Sensor Open
Use of an unconventional sensor for mapping the remaining wall thickness of a pipe is presented in this paper. This is achieved through the development of a sensor model relating the measurements from a Magnetic Flux Leakage (MFL) sensor t…
View article: From the Skin-Depth Equation to the Inverse RFEC Sensor Model
From the Skin-Depth Equation to the Inverse RFEC Sensor Model Open
In this paper, we tackle the direct and inverse problems for the Remote-Field Eddy-Current (RFEC) technology. The direct problem is the sensor model, where given the geometry the measurements are obtained. Conversely, the inverse problem i…