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Monocular 3D reconstruction of deformable objects, such as human body parts, has been typically approached by predicting parameters of heavyweight linear models. In this paper, we demonstrate an alternative solution that is based on the…
We propose an analysis-by-synthesis method for fast multi-view 3D reconstruction of opaque objects with arbitrary materials and illumination. State-of-the-art methods use both neural surface representations and neural rendering. While…
We present a novel approach to interactive 3D object perception for robots. Unlike previous perception algorithms that rely on known object models or a large amount of annotated training data, we propose a poking-based approach that…
Recovering the 3D shape of transparent objects using a small number of unconstrained natural images is an ill-posed problem. Complex light paths induced by refraction and reflection have prevented both traditional and deep multiview stereo…
Objects moving at high speed appear significantly blurred when captured with cameras. The blurry appearance is especially ambiguous when the object has complex shape or texture. In such cases, classical methods, or even humans, are unable…
3D Reconstruction of moving articulated objects without additional information about object structure is a challenging problem. Current methods overcome such challenges by employing category-specific skeletal models. Consequently, they do…
Motivated by the growing demand for interactive environments, we propose an accurate real-time 3D shape reconstruction technique. To provide a reliable 3D reconstruction which is still a challenging task when dealing with real-world…
Imaging 3D nano-structures at very high resolution is crucial in a variety of scientific fields. However, due to fundamental limitations of light propagation we can only measure the object indirectly via 2D intensity measurements of the 3D…
We propose an approach to estimating the 3D pose of a hand, possibly handling an object, given a depth image. We show that we can correct the mistakes made by a Convolutional Neural Network trained to predict an estimate of the 3D pose by…
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…
Reconstructing high-fidelity hand models with intricate textures plays a crucial role in enhancing human-object interaction and advancing real-world applications. Despite the state-of-the-art methods excelling in texture generation and…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
Human-object contact serves as a strong cue to understand how humans physically interact with objects. Nevertheless, it is not widely explored to utilize human-object contact information for the joint reconstruction of 3D human and object…
Reconstruction of the soft tissues in robotic surgery from endoscopic stereo videos is important for many applications such as intra-operative navigation and image-guided robotic surgery automation. Previous works on this task mainly rely…
Existing methods for reconstructing objects and humans from a monocular image suffer from severe mesh collisions and performance limitations for interacting occluding objects. This paper introduces a method to obtain a globally consistent…
Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…
Existing methods for reconstructing interactive scenes primarily focus on replacing reconstructed objects with CAD models retrieved from a limited database, resulting in significant discrepancies between the reconstructed and observed…
We propose an approach to 3D reconstruction via inverse procedural modeling and investigate two variants of this approach. The first option consists in the fitting set of input parameters using a genetic algorithm. We demonstrate the…
In this paper, we tackle the problem of active robotic 3D reconstruction of an object. In particular, we study how a mobile robot with an arm-held camera can select a favorable number of views to recover an object's 3D shape efficiently.…
Object shape provides important information for robotic manipulation; for instance, selecting an effective grasp depends on both the global and local shape of the object of interest, while reaching into clutter requires accurate surface…