Related papers: Amodal 3D Reconstruction for Robotic Manipulation …
Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…
The ability of widely distributed radar systems to capture diverse spatial scattering properties substantially improves radar imaging performance. Traditional imaging methods leverage regularized optimization techniques to reconstruct…
The estimation of 3D human motion from video has progressed rapidly but current methods still have several key limitations. First, most methods estimate the human in camera coordinates. Second, prior work on estimating humans in global…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
Constructing 3D representations of object geometry is critical for many robotics tasks, particularly manipulation problems. These representations must be built from potentially noisy partial observations. In this work, we focus on the…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
We address the problem of unsupervised learning of complex articulated object models from 3D range data. We describe an algorithm whose input is a set of meshes corresponding to different configurations of an articulated object. The…
Reconstructing an accurate 3D object model from a few image observations remains a challenging problem in computer vision. State-of-the-art approaches typically assume accurate camera poses as input, which could be difficult to obtain in…
Object reconstruction is an important task in many fields of application as it allows to generate digital representations of our physical world used as base for analysis, planning, construction, visualization or other aims. A reconstruction…
A major limitation of minimally invasive surgery is the difficulty in accurately locating the internal anatomical structures of the target organ due to the lack of tactile feedback and transparency. Augmented reality (AR) offers a promising…
Man-made environments typically comprise planar structures that exhibit numerous geometric relationships, such as parallelism, coplanarity, and orthogonality. Making full use of these relationships can considerably improve the robustness of…
Image based reconstruction of urban environments is a challenging problem that deals with optimization of large number of variables, and has several sources of errors like the presence of dynamic objects. Since most large scale approaches…
Vision-based robotic assembly is a crucial yet challenging task as the interaction with multiple objects requires high levels of precision. In this paper, we propose an integrated 6D robotic system to perceive, grasp, manipulate and…
Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…
Recent years have produced a variety of learning based methods in the context of computer vision and robotics. Most of the recently proposed methods are based on deep learning, which require very large amounts of data compared to…
Reconstructing physically stable 3D scenes from a single RGB image enables casual images to be converted into simulation-ready digital assets for applications such as immersive interaction and content creation. However, existing…
We present a method to reconstruct the three-dimensional trajectory of a moving instance of a known object category in monocular video data. We track the two-dimensional shape of objects on pixel level exploiting instance-aware semantic…
Active 3D reconstruction enables an agent to autonomously select viewpoints to efficiently obtain accurate and complete scene geometry, rather than passively reconstructing scenes from pre-collected images. However, existing active…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…