Related papers: Snipperclips: Cutting Tools into Desired Polygons …
In complex manipulation tasks, e.g., manipulation by pivoting, the motion of the object being manipulated has to satisfy path constraints that can change during the motion. Therefore, a single grasp may not be sufficient for the entire…
Tetravex is a widely played one person computer game in which you are given $n^2$ unit tiles, each edge of which is labelled with a number. The objective is to place each tile within a $n$ by $n$ square such that all neighbouring edges are…
Extracting shape information from object bound- aries is a well studied problem in vision, and has found tremen- dous use in applications like object recognition. Conversely, studying the space of shapes represented by curves satisfying…
We present a novel form of interactive video object segmentation where a few clicks by the user helps the system produce a full spatio-temporal segmentation of the object of interest. Whereas conventional interactive pipelines take the…
This paper explores the problem of tool substitution, namely, identifying substitute tools for performing a task from a given set of candidate tools. We introduce a novel approach to tool substitution, that unlike prior work in the area,…
We assume some standard choices for the branch cuts of a group of functions and consider the problem of then calculating the branch cuts of expressions involving those functions. Typical examples include the addition formulae for inverse…
Traditionally, shape transformation using implicit functions is performed in two distinct steps: 1) creating two implicit functions, and 2) interpolating between these two functions. We present a new shape transformation method that…
This note wants to explain how to obtain meaningful pictures of (possibly high-dimensional) convex polytopes, triangulated manifolds, and other objects from the realm of geometric combinatorics such as tight spans of finite metric spaces…
Object cutout is a fundamental operation for image editing and manipulation, yet it is extremely challenging to automate it in real-world images, which typically contain considerable background clutter. In contrast to existing cutout…
We propose to synthesize feasible caging grasps for a target object through computing Caging Loops, a closed curve defined in the shape embedding space of the object. Different from the traditional methods, our approach decouples caging…
Recutting is an operation on planar polygons defined by cutting a polygon along a diagonal to remove a triangle, and then reattaching the triangle along the same diagonal but with opposite orientation. Recuttings along different diagonals…
In this work, we propose a new segmentation algorithm for images containing convex objects present in multiple shapes with a high degree of overlap. The proposed algorithm is carried out in two steps, first we identify the visible contours,…
Image segmentation is usually addressed by training a model for a fixed set of object classes. Incorporating additional classes or more complex queries later is expensive as it requires re-training the model on a dataset that encompasses…
We present ShapeClipper, a novel method that reconstructs 3D object shapes from real-world single-view RGB images. Instead of relying on laborious 3D, multi-view or camera pose annotation, ShapeClipper learns shape reconstruction from a set…
We address the problem of executing tool-using manipulation skills in scenarios where the objects to be used may vary. We assume that point clouds of the tool and target object can be obtained, but no interpretation or further knowledge…
Many algorithms for clipping a line by a rectangular area or a convex polygon in E2 or by a non-convex or convex polyhedron in E3 have been published. The line segment clipping by the rectangular window in E2 is often restricted to the use…
This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…
Image collage is a very useful tool for visualizing an image collection. Most of the existing methods and commercial applications for generating image collages are designed on simple shapes, such as rectangular and circular layouts. This…
We consider a natural variation of the concept of stabbing a segment by a simple polygon: a segment is stabbed by a simple polygon $\mathcal{P}$ if at least one of its two endpoints is contained in $\mathcal{P}$. A segment set $S$ is…
In robotic surgery, pattern cutting through a deformable material is a challenging research field. The cutting procedure requires a robot to concurrently manipulate a scissor and a gripper to cut through a predefined contour trajectory on…