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Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored using contact feedback and particle filters to localize…
Mixed Reality aims to merge the digital and physical worlds to create immersive human-computer interactions. Despite notable advancements, the absence of realistic haptic feedback often breaks the immersive experience by creating a…
Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…
Simultaneous reconstruction of geometry and reflectance properties in uncontrolled environments remains a challenging problem. In this paper, we propose an efficient method to reconstruct the scene's 3D geometry and reflectance from…
Extended reality (XR), encompassing Virtual Reality (VR), Augmented Reality (AR), and Mixed Reality (MR), is emerging as a transformative platform for medical education. Traditional methods such as textbooks, physical models, and cadaveric…
In augmented reality (AR), where digital content is overlaid onto the real world, realistic thermal feedback has been shown to enhance immersion. Yet current thermal feedback devices, heavily influenced by the needs of virtual reality,…
The animation of user avatars plays a crucial role in conveying their pose, gestures, and relative distances to virtual objects or other users. Self-avatar animation in immersive VR helps improve the user experience and provides a Sense of…
Eyeglasses play an important role in the perception of identity. Authentic virtual representations of faces can benefit greatly from their inclusion. However, modeling the geometric and appearance interactions of glasses and the face of…
Virtual reality (VR) not only allows head-mounted display (HMD) users to immerse themselves in virtual worlds but also to share them with others. When designed correctly, this shared experience can be enjoyable. However, in typical…
To achieve high fidelity haptic rendering of soft objects in a high mobility virtual environment, we propose a novel haptic display DandelionTouch. The tactile actuators are delivered to the fingertips of the user by a swarm of drones.…
Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…
Haptic rendering enables people to touch, perceive, and manipulate virtual objects in a virtual environment. Using six cascaded identical hollow disk electromagnets and a small permanent magnet attached to an operator's finger, this paper…
Immersive computer graphics systems strive to generate perceptually realistic user experiences. Current-generation virtual reality (VR) displays are successful in accurately rendering many perceptually important effects, including…
Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO:an implicit, multi-modal, and continuous representation for…
Providing a depth-rich Virtual Reality (VR) experience to users without causing discomfort remains to be a challenge with today's commercially available head-mounted displays (HMDs), which enforce strict measures on stereoscopic camera…
A standardized control system called Metaverse Extended Reality Portal (MERP) is presented as a solution to the issues with conventional VR eyewear. The MERP system improves user awareness of the physical world while offering an immersive…
HapticLever is a new kinematic approach for VR haptics which uses a 3D pantograph to stiffly render large-scale surfaces using small-scale proxies. The HapticLever approach does not consume power to render forces, but rather puts a…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
Diffusion models have become central to various image editing tasks, yet they often fail to fully adhere to physical laws, particularly with effects like shadows, reflections, and occlusions. In this work, we address the challenge of…
We introduce a deep appearance model for rendering the human face. Inspired by Active Appearance Models, we develop a data-driven rendering pipeline that learns a joint representation of facial geometry and appearance from a multiview…