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Real-time hand articulations tracking is important for many applications such as interacting with virtual / augmented reality devices or tablets. However, most of existing algorithms highly rely on expensive and high power-consuming GPUs to…

We propose a novel method for high-quality facial texture reconstruction from RGB images using a novel capturing routine based on a single smartphone which we equip with an inexpensive polarization foil. Specifically, we turn the flashlight…

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…

Whereas dedicated scene representations are required for each different task in conventional robotic systems, this paper demonstrates that a unified representation can be used directly for multiple key tasks. We propose the Log-Gaussian…

Time-of-Flight (ToF) depth sensing camera is able to obtain depth maps at a high frame rate. However, its low resolution and sensitivity to the noise are always a concern. A popular solution is upsampling the obtained noisy low resolution…

We introduce a latent 3D representation that models 3D surfaces as probability density functions in 3D, i.e., p(x,y,z), with flow-matching. Our representation is specifically designed for consumption by machine learning models, offering…

Model efficiency has become increasingly important in computer vision. In this paper, we systematically study neural network architecture design choices for object detection and propose several key optimizations to improve efficiency.…

This paper presents an advanced mapping system that combines drone imagery with machine learning and computer vision to overcome challenges in speed, accuracy, and adaptability across diverse terrains. By automating processes like feature…

While Convolutional Neural Networks (CNNs) have significantly boosted the performance of face related algorithms, maintaining accuracy and efficiency simultaneously in practical use remains challenging. The state-of-the-art methods employ…

Creating 3D maps on robots and other mobile devices has become a reality in recent years. Online 3D reconstruction enables many exciting applications in robotics and AR/VR gaming. However, the reconstructions are noisy and generally…

Legged robots need to make contact with irregular surfaces, when operating in unstructured natural terrains. Representing and perceiving these areas to reason about potential contact between a robot and its surrounding environment, is still…

A novel, adaptive ground-aware, and cost-effective 3D Object Detection pipeline is proposed. The ground surface representation introduced in this paper, in comparison to its uni-planar counterparts (methods that model the surface of a whole…

Daily tasks require us to use our whole body to manipulate objects, for instance when our hands are unavailable. We consider the issue of providing humanoid robots with the ability to autonomously perform similar whole-body manipulation…

High-dimensional simulation optimization is notoriously challenging. We propose a new sampling algorithm that converges to a global optimal solution and suffers minimally from the curse of dimensionality. The algorithm consists of two…

With the emergence of data-driven approaches in science, there is growing interest in their application to manufacturing, particularly in surface precision engineering. However, generating large datasets required for model training is often…

Neural implicit functions have emerged as a powerful representation for surfaces in 3D. Such a function can encode a high quality surface with intricate details into the parameters of a deep neural network. However, optimizing for the…

Deformable surface tracking from monocular images is well-known to be under-constrained. Occlusions often make the task even more challenging, and can result in failure if the surface is not sufficiently textured. In this work, we…

Triangulated meshes have become ubiquitous discrete-surface representations. In this paper we address the problem of how to maintain the manifold properties of a surface while it undergoes strong deformations that may cause topological…

Measurements of microscale surface patterns are essential for process and quality control in industries across semiconductors, micro-machining, and biomedicines. However, the development of miniaturized and intelligent profiling systems…

Reconstructing 3D clothed human involves creating a detailed geometry of individuals in clothing, with applications ranging from virtual try-on, movies, to games. To enable practical and widespread applications, recent advances propose to…