Related papers: Continuous body 3-D reconstruction of limbless ani…
The centimeter-scale cyborg insects have a potential advantage for application in narrow environments where humans cannot operate. To realize such tasks, researchers have developed a small printed-circuit-board (PCB) which an insect can…
3D animal reconstruction in the wild remains challenging due to large species variation, frequent occlusions, and the prevalence of multi-animal scenes, while existing methods predominantly focus on single-animal settings. We present SAM 3D…
We present two methods to interpolate between two given rigid body displacements. Both are based on linear interpolation in the ambient space of well-known curved point models for the group of rigid body displacements. The resulting motions…
Recent advances in 3D human shape reconstruction from single images have shown impressive results, leveraging on deep networks that model the so-called implicit function to learn the occupancy status of arbitrarily dense 3D points in space.…
This paper provides the mathematical expressions, formulated in classical trigonometric terms, that are required (i) to compute an animal's body orientations and rotations in 3D space from data acquired at high-frequency by on-board…
The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…
Continuum robots have emerged as a promising technology in the medical field due to their potential of accessing deep sited locations of the human body with low surgical trauma. When deriving physics-based models for these robots,…
We consider the problem of predicting the 3D shape, articulation, viewpoint, texture, and lighting of an articulated animal like a horse given a single test image as input. We present a new method, dubbed MagicPony, that learns this…
Elongate animals and robots use undulatory body waves to locomote through diverse environments. Geometric mechanics provides a framework to model and optimize such systems in highly damped environments, connecting a prescribed shape change…
Most existing animal pose and shape estimation approaches reconstruct animal meshes with a parametric SMAL model. This is because the low-dimensional pose and shape parameters of the SMAL model makes it easier for deep networks to learn the…
We focus on the challenging problem of efficient mouse 3D pose estimation based on static images, and especially single depth images. We introduce an approach to discriminatively train the split nodes of trees in random forest to improve…
The fine-grained surface reconstruction of different organs from 3D medical imaging can provide advanced diagnostic support and improved surgical planning. However, the representation of the organs is often limited by the resolution, with a…
We propose a novel framework for accurate 3D human pose estimation in combat sports using sparse multi-camera setups. Our method integrates robust multi-view 2D pose tracking via a transformer-based top-down approach, employing epipolar…
Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…
In this work, we focus on the task of learning and representing dense correspondences in deformable object categories. While this problem has been considered before, solutions so far have been rather ad-hoc for specific object types (i.e.,…
This paper focuses on the challenging problem of 3D pose estimation of a diverse spectrum of articulated objects from single depth images. A novel structured prediction approach is considered, where 3D poses are represented as skeletal…
3D Human body pose and shape estimation within a temporal sequence can be quite critical for understanding human behavior. Despite the significant progress in human pose estimation in the recent years, which are often based on single images…
We propose a real-time 3D human pose estimation and motion analysis method termed RePose for rehabilitation training. It is capable of real-time monitoring and evaluation of patients'motion during rehabilitation, providing immediate…
Rectilinear crawling locomotion is a primitive and common mode of locomotion in slender, soft-bodied animals. It requires coordinated contractions that propagate along a body that interacts frictionally with its environment. We propose a…
The tendon-driven musculoskeletal humanoid has many benefits that human beings have, but the modeling of its complex muscle and bone structures is difficult and conventional model-based controls cannot realize intended movements. Therefore,…