Related papers: Analysis of Locally Coupled 3D Manipulation Mappin…
In previous work, we introduced a method for modeling a configuration of objects in 2D and 3D images using a mathematical "medial/skeletal linking structure." In this paper, we show how these structures allow us to capture positional…
Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…
Tracking physical activity reliably is becoming central to many research efforts. In the last years specialized hardware has been proposed to measure movement. However, asking study participants to carry additional devices has drawbacks. We…
In this work, we address a challenging problem of fine-grained and coarse-grained recognition of object manipulation actions. Due to the variations in geometrical and motion constraints, there are different manipulations actions possible to…
Motion-controllable image animation is a fundamental task with a wide range of potential applications. Recent works have made progress in controlling camera or object motion via various motion representations, while they still struggle to…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…
Mobile exploration is a longstanding challenge in robotics, yet current methods primarily focus on active perception instead of active interaction, limiting the robot's ability to interact with and fully explore its environment. Existing…
We present a technique for a complete 3D reconstruction of small objects moving in front of a textured background. It is a particular variation of multibody structure from motion, which specializes to two objects only. The scene is captured…
Desktop environments can integrate augmented reality (AR) head-worn devices to support 3D representations, visualizations, and interactions in a novel yet familiar setting. As users navigate across the dual realities -- desktop and AR -- a…
User-driven applications belong to the new type of programs, in which users get the full control of WHAT, WHEN, and HOW must appear on the screen. Such programs can exist only if the screen view is organized not according with the…
The friction and adhesion between elastic bodies are strongly influenced by the roughness of the surfaces in contact. Here we develop a multiscale molecular dynamics approach to contact mechanics, which can be used also when the surfaces…
Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Three-dimensional (3D) applications have come to every corner of life. We present 3DTouch, a novel 3D wearable input device worn on the fingertip for interacting with 3D applications. 3DTouch is self-contained, and designed to universally…
Building on progress in feature representations for image retrieval, image-based localization has seen a surge of research interest. Image-based localization has the advantage of being inexpensive and efficient, often avoiding the use of 3D…
When we physically interact with our environment using our hands, we touch objects and force them to move: contact and motion are defining properties of manipulation. In this paper, we present an active, bottom-up method for the detection…
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…
Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…