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This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…
During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…
We present a framework for fingerprint matching based on marked point process models. An efficient Monte Carlo algorithm is developed to calculate the marginal likelihood ratio for the hypothesis that two observed prints originate from the…
Fingerphoto images captured using a smartphone are successfully used to verify the individuals that have enabled several applications. This work presents a novel algorithm for fingerphoto verification using a nested residual block:…
Extracting hand regions and their grasp information from images robustly in real-time is critical for occupants' safety and in-vehicular infotainment applications. It must however, be noted that naturalistic driving scenes suffer from…
The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface. However, extracting the information encoded in…
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
Egocentric vision is an emerging field of computer vision that is characterized by the acquisition of images and video from the first person perspective. In this paper we address the challenge of egocentric human action recognition by…
Tactile sensing is essential to the human perception system, so as to robot. In this paper, we develop a novel optical-based tactile sensor "FingerVision" with effective signal processing algorithms. This sensor is composed of soft skin…
Mobile virtual reality (VR) head mounted displays (HMD) have become popular among consumers in recent years. In this work, we demonstrate real-time egocentric hand gesture detection and localization on mobile HMDs. Our main contributions…
Due to the universal non-verbal natural communication approach that allows for effective communication between humans, gesture recognition technology has been steadily developing over the previous few decades. Many different strategies have…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
Haptic sciences and technologies benefit greatly from comprehensive datasets that capture tactile stimuli under controlled, systematic conditions. However, existing haptic datasets collect data through uncontrolled exploration, which…
Recently, several morphologies, each with its advantages, have been proposed for the \textit{GelSight} high-resolution tactile sensors. However, existing simulation methods are limited to flat-surface sensors, which prevents their usage…
Image segmentation of touching objects plays a key role in providing accurate classification for computer vision technologies. A new line profile based imaging segmentation algorithm has been developed to provide a robust and accurate…
We present an object detection based approach to localize handwritten regions from documents, which initially aims to enhance the anonymization during the data transmission. The concatenated fusion of original and preprocessed images…
With the growing technology, we humans always need something that stands out from the other thing. Gestures are most desirable source to Communicate with the Machines. Human Computer Interaction finds its importance when it comes to working…
Image processing and edge detection are at the core of several newly emerging technologies, such as augmented reality, autonomous driving and more generally object recognition. Image processing is typically performed digitally using…
Human Computer Interaction (HCI) has been redefined in this era. People want to interact with their devices in such a way that has physical significance in the real world, in other words, they want ergonomic input devices. In this paper, we…