Related papers: RegHEC: Hand-Eye Calibration via Simultaneous Mult…
For many computer vision applications, the availability of camera calibration data is crucial as overall quality heavily depends on it. While calibration data is available on some devices through Augmented Reality (AR) frameworks like…
In this paper, a shape-constrained iterative algorithm is proposed to register a rigid template point-cloud to a given reference point-cloud. The algorithm embeds a shape-based similarity constraint into the principle of gravitation. The…
The world around us is full of soft objects we perceive and deform with dexterous hand movements. For a robotic hand to control soft objects, it has to acquire online state feedback of the deforming object. While RGB-D cameras can collect…
Optical coherence tomography (OCT) is a non-invasive volumetric imaging modality with high spatial and temporal resolution. For imaging larger tissue structures, OCT probes need to be moved to scan the respective area. For handheld…
We tackle a new problem of multi-view camera and subject registration in the bird's eye view (BEV) without pre-given camera calibration. This is a very challenging problem since its only input is several RGB images from different…
We investigate a variation of the 3D registration problem, named multi-model 3D registration. In the multi-model registration problem, we are given two point clouds picturing a set of objects at different poses (and possibly including…
With the mounting global interest for optical see-through head-mounted displays (OST-HMDs) across medical, industrial and entertainment settings, many systems with different capabilities are rapidly entering the market. Despite such…
In Robot-Assisted Minimally Invasive Surgery (RMIS), accurate tool localization is crucial to ensure patient safety and successful task execution. However, this remains challenging for cable-driven robots, such as the da Vinci robot,…
3D hand-mesh reconstruction from RGB images facilitates many applications, including augmented reality (AR). However, this requires not only real-time speed and accurate hand pose and shape but also plausible mesh-image alignment. While…
Registration of point clouds related by rigid transformations is one of the fundamental problems in computer vision. However, a solution to the practical scenario of aligning sparsely and differently sampled observations in the presence of…
The rapidly growing number of product categories in large-scale e-commerce makes accurate object identification for automated packing in warehouses substantially more difficult. As the catalog grows, intra-class variability and a long tail…
Existing methods for capturing datasets of 3D heads in dense semantic correspondence are slow, and commonly address the problem in two separate steps; multi-view stereo (MVS) reconstruction followed by non-rigid registration. To simplify…
3-D image registration, which involves aligning two or more images, is a critical step in a variety of medical applications from diagnosis to therapy. Image registration is commonly performed by optimizing an image matching metric as a cost…
Nowadays, it is possible to scan faces and automatically register them with high quality. However, the resulting face meshes often need further processing: we need to stabilize them to remove unwanted head movement. Stabilization is…
In this paper, we present DIREG3D, a holistic framework for 3D Hand Tracking. The proposed framework is capable of utilizing camera intrinsic parameters, 3D geometry, intermediate 2D cues, and visual information to regress parameters for…
Point cloud registration is a fundamental task in 3D vision. Most existing methods only use geometric information for registration. Recently proposed RGB-D registration methods primarily focus on feature fusion or improving feature…
In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…
Image registration is a process of aligning two or more images of same objects using geometric transformation. Most of the existing approaches work on the assumption of location invariance. These approaches require object-centric images to…
Fish-eye cameras are becoming increasingly popular in computer vision, but their use for 3D measurement is limited partly due to the lack of an accurate, efficient and user-friendly calibration procedure. For such a purpose, we propose a…
Many manipulation tasks require the robot to rearrange objects relative to one another. Such tasks can be described as a sequence of relative poses between parts of a set of rigid bodies. In this work, we propose MATCH POLICY, a simple but…