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Shape-from-Template (SfT) methods estimate 3D surface deformations from a single monocular RGB camera while assuming a 3D state known in advance (a template). This is an important yet challenging problem due to the under-constrained nature…
We present a neural radiance field (NeRF) based large-scale reconstruction system that fuses lidar and vision data to generate high-quality reconstructions that are geometrically accurate and capture photorealistic texture. Our system…
Tactile perception is crucial for embodied intelligent robots to recognize objects. Vision-based tactile sensors extract object physical attributes multidimensionally using high spatial resolution; however, this process generates abundant…
A recently designed hyperspectral imaging device enables multiplexed acquisition of an entire data volume in a single snapshot thanks to monolithically-integrated spectral filters. Such an agile imaging technique comes at the cost of a…
Gaussian splatting has emerged as a powerful tool for high-fidelity reconstruction of dynamic scenes. However, existing methods primarily rely on implicit motion representations, such as encoding motions into neural networks or per-Gaussian…
Remote sensing provides valuable information about objects or areas from a distance in either active (e.g., RADAR and LiDAR) or passive (e.g., multispectral and hyperspectral) modes. The quality of data acquired by remotely sensed imaging…
Jointly estimating hand and object shape facilitates the grasping task in human-to-robot handovers. However, relying on hand-crafted prior knowledge about the geometric structure of the object fails when generalising to unseen objects, and…
3D reconstruction of dynamic scenes is a long-standing problem in computer graphics and increasingly difficult the less information is available. Shape-from-Template (SfT) methods aim to reconstruct a template-based geometry from RGB images…
Achieving accurate material segmentation for 3-channel RGB images is challenging due to the considerable variation in a material's appearance. Hyperspectral images, which are sets of spectral measurements sampled at multiple wavelengths,…
Tactile sensing is inherently contact based. To use tactile data, robots need to make contact with the surface of an object. This is inefficient in applications where an agent needs to make a decision between multiple alternatives that…
Tactile sensors have been used for force estimation in the past, especially Vision-Based Tactile Sensors (VBTS) have recently become a new trend due to their high spatial resolution and low cost. In this work, we have designed and…
Transparent object manipulation remains a significant challenge in robotics due to the difficulty of acquiring accurate and dense depth measurements. Conventional depth sensors often fail with transparent objects, resulting in incomplete or…
Tactile sensing plays a crucial role in robot grasping and manipulation by providing essential contact information between the robot and the environment. In this paper, we present AllTact Fin Ray, a novel compliant gripper design with…
Tactile sensing offers rich and complementary information to vision and language, enabling robots to perceive fine-grained object properties. However, existing tactile sensors lack standardization, leading to redundant features that hinder…
Vision and touch are two of the important sensing modalities for humans and they offer complementary information for sensing the environment. Robots could also benefit from such multi-modal sensing ability. In this paper, addressing for the…
Robots operating in the real world must plan through environments that deform, yield, and reconfigure under contact, requiring interaction-aware 3D representations that extend beyond static geometric occupancy. To address this, we introduce…
The reconstruction of textureless areas has long been a challenging problem in MVS due to lack of reliable pixel correspondences between images. In this paper, we propose the Textureless-aware Segmentation And Correlative Refinement guided…
Recently, Spectral Compressive Imaging (SCI) has achieved remarkable success, unlocking significant potential for dynamic spectral vision. However, existing reconstruction methods, primarily image-based, suffer from two limitations: (i)…
This work contributes an event-driven visual-tactile perception system, comprising a novel biologically-inspired tactile sensor and multi-modal spike-based learning. Our neuromorphic fingertip tactile sensor, NeuTouch, scales well with the…
Vision Transformer (ViT) self-attention mechanism is characterized by feature collapse in deeper layers, resulting in the vanishing of low-level visual features. However, such features can be helpful to accurately represent and identify…