Related papers: Tracking Partially-Occluded Deformable Objects whi…
Existing methods for 3D tracking from monocular RGB videos predominantly consider articulated and rigid objects. Modelling dense non-rigid object deformations in this setting remained largely unaddressed so far, although such effects can…
Multiple object tracking is a challenging problem in computer vision due to difficulty in dealing with motion prediction, occlusion handling, and object re-identification. Many recent algorithms use motion and appearance cues to overcome…
Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation policies directly…
Navigating dynamic and unstructured environments poses significant challenges for autonomous robots, particularly due to the uncertainty introduced by occluded areas. Conventional sensing methods often fail to detect obstacles hidden behind…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…
Tracking multiple objects is a challenging task when objects move in groups and occlude each other. Existing methods have investigated the problems of group division and group energy-minimization; however, lacking overall object-group…
A robust visual tracking system requires an object appearance model that is able to handle occlusion, pose, and illumination variations in the video stream. This can be difficult to accomplish when the model is trained using only a single…
This paper develops a method to use RGB-D cameras to track the motions of a human spinal cord injury patient undergoing spinal stimulation and physical rehabilitation. Because clinicians must remain close to the patient during training…
Reasoning about potential occlusions is essential for robots to efficiently predict whether an object exists in an environment. Though existing work shows that a robot with active perception can achieve various tasks, it is still unclear if…
Real-time simultaneous tracking of hands manipulating and interacting with external objects has many potential applications in augmented reality, tangible computing, and wearable computing. However, due to difficult occlusions, fast…
This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…
Physics-based understanding of object interactions from sensory observations is an essential capability in augmented reality and robotics. It enables to capture the properties of a scene for simulation and control. In this paper, we propose…
We propose a framework to continuously learn object-centric representations for visual learning and understanding. Existing object-centric representations either rely on supervisions that individualize objects in the scene, or perform…
Tracking non-rigidly deforming scenes using range sensors has numerous applications including computer vision, AR/VR, and robotics. However, due to occlusions and physical limitations of range sensors, existing methods only handle the…
Tracking mouse body parts in video is often incomplete due to occlusions such that - e.g. - subsequent action and behavior analysis is impeded. In this conceptual work, videos from several perspectives are integrated via global exterior…
An underactuated nonholonomic Dubins-vehicle-like robot with a lower-limited turning radius travels with a constant speed in a plane, which hosts unknown complex objects. The robot has to approach and then circumnavigate all objects, with…
Rotation estimation of known rigid objects is important for robotic applications such as dexterous manipulation. Most existing methods for rotation estimation use intermediate representations such as templates, global or local feature…
The complex physical properties of highly deformable materials such as clothes pose significant challenges fanipulation systems. We present a novel visual feedback dictionary-based method for manipulating defoor autonomous robotic mrmable…
This article addresses the problem of multi-object tracking by using a non-deterministic model of target behaviors with hard constraints. To capture the evolution of target features as well as their locations, we permit objects to lie in a…
Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…