Related papers: Haptic Rendering of Thin, Deformable Objects with …
The replication of object stiffness is essential for enhancing haptic feedback in virtual environments. However, existing research has overlooked how stylus stiffness influences the perception of virtual object stiffness during…
We give a method for modeling solid objects undergoing large spatially varying and/or anisotropic strains, and use it to reconstruct human anatomy from medical images. Our novel shape deformation method uses plastic strains and the Finite…
We present a cost-efficient and versatile method to map an unknown 3D freeform surface using only sparse measurements while the end-effector of a robotic manipulator moves along the surface. The geometry is locally approximated by a plane,…
Shape recognition is the main challenging problem in computer vision. Different approaches and tools are used to solve this problem. Most existing approaches to object recognition are based on pixels. Pixel-based methods are dependent on…
By presenting curved surfaces of various curvatures including edges to the fingertip, it is possible to reproduce the haptic sensation of object shapes that cannot be reproduced by flat surfaces alone, such as spheres and rectangular…
Perception research provides strong evidence in favor of part based representation of shapes in human visual system. Despite considerable differences among different theories in terms of how part boundaries are found, there is substantial…
This paper presents a multimodal framework that integrates touch signals (contact points and surface normals) into 3D Gaussian Splatting (3DGS). Our approach enhances scene reconstruction, particularly under challenging conditions like low…
We introduce a hybrid Gaussian-hash-grid radiance representation for reconstructing 2D Gaussian scene models from multi-view images. Similar to NeST splatting, our approach reduces the entanglement between geometry and appearance common in…
This paper introduces a set of numerical methods for Riemannian shape analysis of 3D surfaces within the setting of invariant (elastic) second-order Sobolev metrics. More specifically, we address the computation of geodesics and geodesic…
We investigate the wave-optical light scattering properties of deformed thin circular films of constant thickness using the discrete-dipole approximation. Effects on the intensity distribution of the scattered light due to different…
Object recognition is an essential capability when performing various tasks. Humans naturally use either or both visual and tactile perception to extract object class and properties. Typical approaches for robots, however, require complex…
Mechanical metamaterials are structures designed to exhibit an exotic response, such as topological soft modes at a surface. Here we explore single-material 3D prints of these topological structures by translating a ball-and-spring model…
Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…
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…
This paper investigates the optimal distribution of hard and soft material on elastic plates. In the class of isometric deformations stationary points of a Kirchhoff plate functional with incorporated material hardness function are…
We propose a novel framework for fine-grained object recognition that learns to recover object variation in 3D space from a single image, trained on an image collection without using any ground-truth 3D annotation. We accomplish this by…
Reliable real-time 3D shape sensing is essential for robust control and interpretation of deformable systems during motion. Existing vision-based approaches require line-of-sight and complex instrumentation, limiting operation in occluded…
We propose a neural network-based approach for collision detection with deformable objects. Unlike previous approaches based on bounding volume hierarchies, our neural approach does not require an update of the spatial data structure when…
Event cameras offer a high temporal resolution over traditional frame-based cameras, which makes them suitable for motion and structure estimation. However, it has been unclear how event-based 3D Gaussian Splatting (3DGS) approaches could…
A molecular-dynamics type simulation method, which is suitable for investigating the dewetting dynamics of thin and viscous liquid layers, is discussed. The efficiency of the method is exemplified by studying a two-parameter depinning-like…