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Skeletonization is a popular shape analysis technique that models an object's interior as opposed to just its boundary. Fitting template-based skeletal models is a time-consuming process requiring much manual parameter tuning. Recently,…
In this work, we build on our method for manipulating unknown objects via contact configuration regulation: the estimation and control of the location, geometry, and mode of all contacts between the robot, object, and environment. We…
Humans can infer the three-dimensional structure of objects from two-dimensional visual inputs. Modeling this ability has been a longstanding goal for the science and engineering of visual intelligence, yet decades of computational methods…
Rank-based linkage is a new tool for summarizing a collection $S$ of objects according to their relationships. These objects are not mapped to vectors, and ``similarity'' between objects need be neither numerical nor symmetrical. All an…
Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…
A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…
In computer vision and medical imaging, the problem of matching structures finds numerous applications from automatic annotation to data reconstruction. The data however, while corresponding to the same anatomy, are often very different in…
Compared to joint position, the accuracy of joint rotation and shape estimation has received relatively little attention in the skinned multi-person linear model (SMPL)-based human mesh reconstruction from multi-view images. The work in…
Exploring the semantic context in scene images is essential for indoor scene recognition. However, due to the diverse intra-class spatial layouts and the coexisting inter-class objects, modeling contextual relationships to adapt various…
We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…
Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…
Parametric body models offer expressive 3D representation of humans across a wide range of poses, shapes, and facial expressions, typically derived by learning a basis over registered 3D meshes. However, existing human mesh modeling…
Numerous embedding models have been recently explored to incorporate semantic knowledge into visual recognition. Existing methods typically focus on minimizing the distance between the corresponding images and texts in the embedding space…
This paper presents a method for the optimization of multi-component structures comprised of two and three materials considering large motion sliding contact and separation along interfaces. The structural geometry is defined by an explicit…
3D modeling of articulated objects is a research problem within computer vision, graphics, and robotics. Its objective is to understand the shape and motion of the articulated components, represent the geometry and mobility of object parts,…
Object skeleton is a useful cue for object detection, complementary to the object contour, as it provides a structural representation to describe the relationship among object parts. While object skeleton extraction in natural images is a…
Object-centric reconstruction seeks to recover the 3D structure of a scene through composition of independent objects. While this independence can simplify modeling, it discards strong signals that could improve reconstruction, notably…
Virtual try-on and product personalization have become increasingly important in modern online shopping, highlighting the need for accurate body measurement estimation. Although previous research has advanced in estimating 3D body shapes…
Particle-based shape modeling (PSM) is a popular approach to automatically quantify shape variability in populations of anatomies. The PSM family of methods employs optimization to automatically populate a dense set of corresponding…
Object functionality is often expressed through part articulation -- as when the two rigid parts of a scissor pivot against each other to perform the cutting function. Such articulations are often similar across objects within the same…