Related papers: Active 3D Shape Reconstruction from Vision and Tou…

Accurate object geometry estimation is essential for many downstream tasks, including robotic manipulation and physical interaction. Although vision is the dominant modality for shape perception, it becomes unreliable under occlusions or…

Template 3D shapes are useful for many tasks in graphics and vision, including fitting observation data, analyzing shape collections, and transferring shape attributes. Because of the variety of geometry and topology of real-world shapes,…

Deep learning has enabled remarkable improvements in grasp synthesis for previously unseen objects from partial object views. However, existing approaches lack the ability to explicitly reason about the full 3D geometry of the object when…

Inspired by humans' ability to perceive the surface texture of unfamiliar objects without relying on vision, the sense of touch can play a crucial role in robots exploring the environment, particularly in scenes where vision is difficult to…

This work studies the problem of shape reconstruction and object localization using a vision-based tactile sensor, GelSlim. The main contributions are the recovery of local shapes from contact, an approach to reconstruct the tactile shape…

Reconstructing the 3D geometry, pose, and motion of animals is a long-standing problem, which has a wide range of applications, from biology, livestock management, and animal conservation and welfare to content creation in digital…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Human perception of 3D shapes goes beyond reconstructing them as a set of points or a composition of geometric primitives: we also effortlessly understand higher-level shape structure such as the repetition and reflective symmetry of object…

Reorienting diverse objects with a multi-fingered hand is a challenging task. Current methods in robotic in-hand manipulation are either object-specific or require permanent supervision of the object state from visual sensors. This is far…

Object surface reconstruction brings essential benefits to robot grasping, object recognition, and object manipulation. When measuring the surface distribution of an unknown object by tapping, the greatest challenge is to select tapping…

Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…

Tactile sensing is vital for human dexterous manipulation, however, it has not been widely used in robotics. Compact, low-cost sensing platforms can facilitate a change, but unlike their popular optical counterparts, they are difficult to…

Recovering textured 3D models of non-rigid human body shapes is challenging due to self-occlusions caused by complex body poses and shapes, clothing obstructions, lack of surface texture, background clutter, sparse set of cameras with…

This paper propose a interactive 3D modeling method and corresponding system based on single or multiple uncalibrated images. The main feature of this method is that, according to the modeling habits of ordinary people, the 3D model of the…

Many surface cues support three-dimensional shape perception, but people can sometimes still see shape when these features are missing -- in extreme cases, even when an object is completely occluded, as when covered with a draped cloth. We…

The development of vision-based tactile sensors has significantly enhanced robots' perception and manipulation capabilities, especially for tasks requiring contact-rich interactions with objects. In this work, we present DTactive, a novel…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

Touch and vision go hand in hand, mutually enhancing our ability to understand the world. From a research perspective, the problem of mixing touch and vision is underexplored and presents interesting challenges. To this end, we propose…

Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…

Recent advances have enabled 3d object reconstruction approaches using a single off-the-shelf RGB-D camera. Although these approaches are successful for a wide range of object classes, they rely on stable and distinctive geometric or…