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Generalizable neural surface reconstruction techniques have attracted great attention in recent years. However, they encounter limitations of low confidence depth distribution and inaccurate surface reasoning due to the oversimplified…
This paper presents an improved tactile sensor using a piezoelectric bimorph able to differentiate soft materials with similar mechanical characteristics. The final aim is to develop intelligent surgical tools for brain tumour resection…
Recent advancements in Gaussian Splatting have enabled increasingly accurate reconstruction of photorealistic head avatars, opening the door to numerous applications in visual effects, videoconferencing, and virtual reality. This, however,…
Recent self-supervised learning (SSL) methods have demonstrated impressive results in learning visual representations from unlabeled remote sensing images. However, most remote sensing images predominantly consist of scenographic scenes…
This paper introduces a versatile paradigm for integrating multi-view reflectance (optional) and normal maps acquired through photometric stereo. Our approach employs a pixel-wise joint re-parameterization of reflectance and normal,…
Recovering 3D information from scenes via multi-view stereo reconstruction (MVS) and novel view synthesis (NVS) is inherently challenging, particularly in scenarios involving sparse-view setups. The advent of 3D Gaussian Splatting (3DGS)…
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…
Simulation is widely used in robotics for system verification and large-scale data collection. However, simulating sensors, including tactile sensors, has been a long-standing challenge. In this paper, we propose Taxim, a realistic and…
The integration of tactile sensing into compliant soft robotic grippers offers a compelling pathway toward advanced robotic grasping and safer human-robot interactions. Visual-tactile sensors realize high-resolution, large-area tactile…
Compliant grippers enable robots to work with humans in unstructured environments. In general, these grippers can improve with tactile sensing to estimate the state of objects around them to precisely manipulate objects. However,…
3D Gaussian Splatting (3DGS) has demonstrated impressive capabilities in novel view synthesis. However, rendering reflective objects remains a significant challenge, particularly in inverse rendering and relighting. We introduce RTR-GS, a…
Conventional frame-based camera is not able to meet the demand of rapid reaction for real-time applications, while the emerging dynamic vision sensor (DVS) can realize high speed capturing for moving objects. However, to achieve visual…
Single-pixel imaging (SPI) exhibits cost-effectiveness, broad spectrum, and stable sub-Nyquist sampling reconstruction, enabling applications across diverse imaging fields.However, due to the inherent reconstruction mechanism, SPI is not…
Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…
Tactile sensing is significant for robotics since it can obtain physical contact information during manipulation. To capture multimodal contact information within a compact framework, we designed a novel sensor called ViTacTip, which…
Spatial tactile feedback can enhance the realism of geometry exploration in virtual reality applications. Current vibrotactile approaches often face challenges with the spatial and temporal resolution needed to render different 3D…
Vision Transformers (ViTs) have achieved overwhelming success, yet they suffer from vulnerable resolution scalability, i.e., the performance drops drastically when presented with input resolutions that are unseen during training. We…
As automation technologies advance, the need for compact and multi-modal sensors in robotic applications is growing. To address this demand, we introduce CompdVision, a novel sensor that employs a compound-eye imaging system to combine…
Achieving high-fidelity 3D surface reconstruction while preserving fine details remains challenging, especially in the presence of materials with complex reflectance properties and without a dense-view setup. In this paper, we introduce a…
Flexible electrical impedance tomography (EIT) offers a promising alternative to traditional tactile sensing approaches, enabling low-cost, scalable, and deformable sensor designs. Here, we propose an optimized lattice-structured flexible…