Related papers: Exploring Geometric Shapes with Touch
Shape completion, i.e., predicting the complete geometry of an object from a partial observation, is highly relevant for several downstream tasks, most notably robotic manipulation. When basing planning or prediction of real grasps on…
Shape is an important physical property of natural and manmade 3D objects that characterizes their external appearances. Understanding differences between shapes and modeling the variability within and across shape classes, hereinafter…
Object surface reconstruction brings essential benefits to robot grasping, object recognition, and object manipulation. When measuring the surface distribution of an unknown object by tapping, the greatest challenge is to select tapping…
We propose a method for predicting the 3D shape of a deformable surface from a single view. By contrast with previous approaches, we do not need a pre-registered template of the surface, and our method is robust to the lack of texture and…
This paper presents a hand shape classification approach employing multiscale template matching. The integration of background subtraction is utilized to derive a binary image of the hand object, enabling the extraction of key features such…
We propose a novel zero-shot approach to computing correspondences between 3D shapes. Existing approaches mainly focus on isometric and near-isometric shape pairs (e.g., human vs. human), but less attention has been given to strongly…
The availability of affordable and portable depth sensors has made scanning objects and people simpler than ever. However, dealing with occlusions and missing parts is still a significant challenge. The problem of reconstructing a (possibly…
We present an unsupervised data-driven approach for non-rigid shape matching. Shape matching identifies correspondences between two shapes and is a fundamental step in many computer vision and graphics applications. Our approach is designed…
Smartphones with large screens provide users with increased display and interaction space but pose challenges in reaching certain areas with the thumb when using the device with one hand. To address this, we introduce GazeSwipe, a…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
Establishing consistent and dense correspondences across multiple images is crucial for Structure from Motion (SfM) systems. Significant view changes, such as air-to-ground with very sparse view overlap, pose an even greater challenge to…
The sense of touch is fundamental to human dexterity. When mimicked in robotic touch, particularly by use of soft optical tactile sensors, it suffers from distortion due to motion-dependent shear. This complicates tactile tasks like shape…
Recent research proposed eyelid gestures for people with upper-body motor impairments (UMI) to interact with smartphones without finger touch. However, such eyelid gestures were designed by researchers. It remains unknown what eyelid…
Biometrics which use of human physiological characteristics for identifying an individual is now a widespread method of identification and authentication. Biometric identification is a technology which uses several image processing…
We consider the problem of visual imitation learning without human supervision (e.g. kinesthetic teaching or teleoperation), nor access to an interactive reinforcement learning (RL) training environment. We present a geometric perspective…
We describe tap tips, a technique for providing touch-screen target location hints. Tap tips are lightweight in that they are non-modal, appear only when needed, require a minimal number of user gestures, and do not add to the standard…
Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…
Moving our hands smoothly is essential to execute ordinary tasks, such as carrying a glass of water without spilling. Past studies have revealed a natural tendency to generate smooth trajectories when moving the hand from one point to…
Many existing learning-based grasping approaches concentrate on a single embodiment, provide limited generalization to higher DoF end-effectors and cannot capture a diverse set of grasp modes. We tackle the problem of grasping using…
We propose a method for guiding a photographer to rotate her/his smartphone camera to obtain an image that overlaps with another image of the same scene. The other image is taken by another photographer from a different viewpoint. Our…