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Removing noise from images is a challenging and fundamental problem in the field of computer vision. Images captured by modern cameras are inevitably degraded by noise which limits the accuracy of any quantitative measurements on those…
Multispectral image fusion is a computer vision process that is essential to remote sensing. For applications such as dehazing and object detection, there is a need to offer solutions that can perform in real-time on any type of scene.…
In this paper, we propose an approach to address the problem of 3D reconstruction of scenes from a single image captured by a light-field camera equipped with a rolling shutter sensor. Our method leverages the 3D information cues present in…
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin to estimate contact force without embedding tactile…
Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenarios requires advanced sensing for tactile feedback and…
Reflectance Transformation Imaging (RTI) is a popular technique that allows the recovery of per-pixel reflectance information by capturing an object under different light conditions. This can be later used to reveal surface details and…
Tactile sensors play a crucial role in enabling robots to interact effectively and safely with objects in everyday tasks. In particular, visuotactile sensors have seen increasing usage in two and three-fingered grippers due to their…
We are witnessing a proliferation of textured 3D models captured from the real world with automatic photo-reconstruction tools. Digital 3D models of this class come with a unique set of characteristics and defects -- especially concerning…
Camera-based tactile sensors can provide high-density surface geometry and force information for robots in the interaction process with the target. However, most existing methods cannot achieve accurate reconstruction with high efficiency,…
3D Gaussian Splatting (3DGS) enables real-time novel view synthesis with high visual quality. However, existing methods struggle with semi-transparent specular surfaces that exhibit both complex reflections and clear transmission, often…
Soft sensors have continued growing interest in robotics, due to their ability to enable both passive conformal contact from the material properties and active contact data from the sensor properties. However, the same properties of…
Today's tactile sensors have a variety of different designs, making it challenging to develop general-purpose methods for processing touch signals. In this paper, we learn a unified representation that captures the shared information…
Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…
Novel view synthesis (NVS) boosts immersive experiences in computer vision and graphics. Existing techniques, though progressed, rely on dense multi-view observations, restricting their application. This work takes on the challenge of…
We propose R3GS, a robust reconstruction and relocalization framework tailored for unconstrained datasets. Our method uses a hybrid representation during training. Each anchor combines a global feature from a convolutional neural network…
High-quality scene reconstruction and novel view synthesis based on Gaussian Splatting (3DGS) typically require steady, high-quality photographs, often impractical to capture with handheld cameras. We present a method that adapts to camera…
Deep learning combined with high-resolution tactile sensing could lead to highly capable dexterous robots. However, progress is slow because of the specialist equipment and expertise. The DIGIT tactile sensor offers low-cost entry to…
Visuotactile sensors provide high-resolution tactile information but are incapable of perceiving the material features of objects. We present UltraTac, an integrated sensor that combines visuotactile imaging with ultrasound sensing through…
Tactile sensing plays an important role in robotic perception and manipulation tasks. To overcome the real-world limitations of data collection, simulating tactile response in a virtual environment comes as a desirable direction of robotic…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…