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Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
We introduce the problem of knot-based inverse perceptual art. Given multiple target images and their corresponding viewing configurations, the objective is to find a 3D knot-based tubular structure whose appearance resembles the target…
Rotation detection is a challenging task due to the difficulties of locating the multi-angle objects and separating them effectively from the background. Though considerable progress has been made, for practical settings, there still exist…
We are interested in anticipating as early as possible the target location of a person's object manipulation action in a 3D workspace from egocentric vision. It is important in fields like human-robot collaboration, but has not yet received…
Transparent objects are common in daily life, while their optical properties pose challenges for RGB-D cameras to capture accurate depth information. This issue is further amplified when these objects are hand-held, as hand occlusions…
Current commercial matrix transducers for 3D DCE-US do not display side-by-side B-mode and contrast-mode images when capturing volumetric data, thus leaving the operator with no position feedback during lengthy acquisitions. The purpose of…
Improving the detection of distant 3d objects is an important yet challenging task. For camera-based 3D perception, the annotation of 3d bounding relies heavily on LiDAR for accurate depth information. As such, the distance of annotation is…
Camera relocalization involving a prior 3D reconstruction plays a crucial role in many mixed reality and robotics applications. Estimating the camera pose directly with respect to pre-built 3D models can be prohibitively expensive for…
Surgery monitoring in Mixed Reality (MR) environments has recently received substantial focus due to its importance in image-based decisions, skill assessment, and robot-assisted surgery. Tracking hands and articulated surgical instruments…
This paper presents a novel method for fully automatic and convenient extrinsic calibration of a 3D LiDAR and a panoramic camera with a normally printed chessboard. The proposed method is based on the 3D corner estimation of the chessboard…
Surgical instrument tracking is an active research area that can provide surgeons feedback about the location of their tools relative to anatomy. Recent tracking methods are mainly divided into two parts: segmentation and object detection.…
Real-world image super-resolution (RWSR) is a long-standing problem as low-quality (LQ) images often have complex and unidentified degradations. Existing methods such as Generative Adversarial Networks (GANs) or continuous diffusion models…
Purpose: Accurate estimation of the position and orientation (pose) of surgical instruments is crucial for delicate minimally invasive temporal bone surgery. Current techniques lack in accuracy and/or line-of-sight constraints (conventional…
Electrical Impedance Tomography (EIT) is a powerful imaging modality widely used in medical diagnostics, industrial monitoring, and environmental studies. The EIT inverse problem is about inferring the internal conductivity distribution of…
High-precision surface defect detection in manufacturing is essential for ensuring quality control. Laser triangulation profilometric sensors are key to this process, providing detailed and accurate surface measurements over a line. To…
We demonstrate a novel deep neural network capable of reconstructing human full body pose in real-time from 6 Inertial Measurement Units (IMUs) worn on the user's body. In doing so, we address several difficult challenges. First, the…
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…
Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…
In this paper, we present DIREG3D, a holistic framework for 3D Hand Tracking. The proposed framework is capable of utilizing camera intrinsic parameters, 3D geometry, intermediate 2D cues, and visual information to regress parameters for…
Tracking the 6D pose of objects in video sequences is important for robot manipulation. This work presents se(3)-TrackNet, a data-driven optimization approach for long term, 6D pose tracking. It aims to identify the optimal relative pose…