Related papers: Haptic Rendering of Thin, Deformable Objects with …
We propose a novel iterative numerical method to solve the three-dimensional inverse obstacle scattering problem of recovering the shape of the obstacle from far-field measurements. To address the inherent ill-posed nature of the inverse…
We present a method for computing locally varying nonlinear mechanical properties in particle simulations of amorphous solids. Plastic rearrangements outside a probed region are suppressed by introducing an external field that directly…
This paper presents a novel approach to reconstruct complete 3D deformable models over time by a single depth camera. These are the steps employed for deforming objects from single depth camera. The partial surfaces reconstructed from…
We develop a computational method based on an Eulerian field called the "reference map", which relates the current location of a material point to its initial. The reference map can be discretized to permit finite-difference simulation of…
The accurate characterisation of the 3D deformations of slender fibres and thin sheets in flow, is a key experimental challenge in the study of particle-laden flows. We propose a high-resolution, single-camera method to visualise…
In this paper, it is presented a methodology to estimate the deformation involved between two objects attending to its physical properties. This methodology can be used, for example, in Computational Vision or Computer Graphics…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
A method is proposed for high-resolution, three-dimensional reconstruction of internal structure of objects from planar transmission images. The described approach can be used with any form of radiation or matter waves, in principle,…
Interrupted X-ray computed tomography (X-CT) has been the common way to observe the deformation of materials during an experiment. While this approach is effective for quasi-static experiments, it has never been possible to reconstruct a…
Surface reconstruction and novel view rendering from sparse-view images are challenging. Signed Distance Function (SDF)-based methods struggle with fine details, while 3D Gaussian Splatting (3DGS)-based approaches lack global geometry…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…
Reconstructing physically plausible 3D human-scene interactions (HSI) from a single image currently presents a trade-off: optimization based methods offer accurate contact but are slow (~20s), while feed-forward approaches are fast yet lack…
Inspired by recent results on self-avoiding inextensible curves, we propose and experimentally investigate a numerical method for simulating isometric plate bending without self-intersections. We consider a nonlinear two-dimensional…
Human-robot co-manipulation of soft materials, such as fabrics, composites, and sheets of paper/cardboard, is a challenging operation that presents several relevant industrial applications. Estimating the deformation state of the…
We present MatDecompSDF, a novel framework for recovering high-fidelity 3D shapes and decomposing their physically-based material properties from multi-view images. The core challenge of inverse rendering lies in the ill-posed…
Recently, 3D Gaussian Splatting (3DGS), an explicit scene representation technique, has shown significant promise for dynamic novel-view synthesis from monocular video input. However, purely data-driven 3DGS often struggles to capture the…
Rendering novel view images in dynamic scenes is a crucial yet challenging task. Current methods mainly utilize NeRF-based methods to represent the static scene and an additional time-variant MLP to model scene deformations, resulting in…
In multi-view human body capture systems, the recovered 3D geometry or even the acquired imagery data can be heavily corrupted due to occlusions, noise, limited field of- view, etc. Direct estimation of 3D pose, body shape or motion on…
We address the problem of tracking 3D object poses from touch during in-hand manipulations. Specifically, we look at tracking small objects using vision-based tactile sensors that provide high-dimensional tactile image measurements at the…