Related papers: PatchGraph: In-hand tactile tracking with learned …
As more robots are implemented for contact-rich tasks, tactile sensors are in increasing demand. For many circumstances, the contact is required to be compliant, and soft sensors are in need. This paper introduces a novelly designed soft…
In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and…
We seek to extract a temporally consistent 6D pose trajectory of a manipulated object from an Internet instructional video. This is a challenging set-up for current 6D pose estimation methods due to uncontrolled capturing conditions, subtle…
We present a novel appearance-based approach for pose estimation of a human hand using the point clouds provided by the low-cost Microsoft Kinect sensor. Both the free-hand case, in which the hand is isolated from the surrounding…
This paper proposes a new approach to detecting grasp points on novel objects presented in clutter. The input to our algorithm is a point cloud and the geometric parameters of the robot hand. The output is a set of hand configurations that…
Video action recognition, a critical problem in video understanding, has been gaining increasing attention. To identify actions induced by complex object-object interactions, we need to consider not only spatial relations among objects in a…
Palpation, the use of touch in medical examination, is almost exclusively performed by humans. We investigate a proof of concept for an artificial palpation method based on self-supervised learning. Our key idea is that an encoder-decoder…
Generic motion understanding from video involves not only tracking objects, but also perceiving how their surfaces deform and move. This information is useful to make inferences about 3D shape, physical properties and object interactions.…
Seamless situational awareness provided by modern radar systems relies on effective methods for multiobject tracking (MOT). This paper presents a graph-based Bayesian method for nonlinear and high-dimensional MOT problems that embeds…
In this study, we investigate the problem of tracking objects with unknown shapes using three-dimensional (3D) point cloud data. We propose a Gaussian process-based model to jointly estimate object kinematics, including position,…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
Contactless fingerprint has gained lots of attention in recent fingerprint studies. However, most existing contactless fingerprint algorithms treat contactless fingerprints as 2D plain fingerprints, and still utilize traditional…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
Graph matching aims to establish correspondences between vertices of graphs such that both the node and edge attributes agree. Various learning-based methods were recently proposed for finding correspondences between image key points based…
Visual recognition and vision based retrieval of objects from large databases are tasks with a wide spectrum of potential applications. In this paper we propose a novel recognition method from video sequences suitable for retrieval from…
Robotic in-hand manipulation requires reliable object-motion tracking under frequent visual occlusion, yet low-texture visuotactile images provide few stable correspondences for conventional image- or geometry-matching methods. This paper…
Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…
We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose. This is challenging, because it requires reasoning about…
Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effects. However, efficiently leveraging tactile data for…
Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To accurately reconstruct object contours, it is crucial for the…