Related papers: TouchSDF: A DeepSDF Approach for 3D Shape Reconstr…
Reconstructing complex structures from planar cross-sections is a challenging problem, with wide-reaching applications in medical imaging, manufacturing, and topography. Out-of-the-box point cloud reconstruction methods can often fail due…
Accurately perceiving an object's pose and shape is essential for precise grasping and manipulation. Compared to common vision-based methods, tactile sensing offers advantages in precision and immunity to occlusion when tracking and…
Recovering the 3D shape of a person from its 2D appearance is ill-posed due to ambiguities. Nevertheless, with the help of convolutional neural networks (CNN) and prior knowledge on the 3D human body, it is possible to overcome such…
Recently, methods for neural surface representation and rendering, for example NeuS, have shown that learning neural implicit surfaces through volume rendering is becoming increasingly popular and making good progress. However, these…
The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface. However, extracting the information encoded in…
General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…
3D biometric techniques on finger traits have become a new trend and have demonstrated a powerful ability for recognition and anti-counterfeiting. Existing methods follow an explicit 3D pipeline that reconstructs the models first and then…
Neural implicit reconstruction via volume rendering has demonstrated its effectiveness in recovering dense 3D surfaces. However, it is non-trivial to simultaneously recover meticulous geometry and preserve smoothness across regions with…
For humans, our "senses of touch" have always been necessary for our ability to precisely and efficiently manipulate objects of all shapes in any environment, but until recently, not many works have been done to fully understand haptic…
Reconstructing deformable endoscopic tissues is crucial for achieving robot-assisted surgery. However, 3D Gaussian Splatting-based approaches encounter challenges in achieving consistent tissue surface reconstruction, while existing…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
We propose a novel Deformed Implicit Field (DIF) representation for modeling 3D shapes of a category and generating dense correspondences among shapes. With DIF, a 3D shape is represented by a template implicit field shared across the…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
The sense of touch is fundamental to human dexterity. When mimicked in robotic touch, particularly by use of soft optical tactile sensors, it suffers from distortion due to motion-dependent shear. This complicates tactile tasks like shape…
While novel view synthesis (NVS) for dynamic scenes has seen significant progress, reconstructing temporally consistent geometric surfaces remains a challenge. Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) offer powerful…
In recent years, implicit surface representations through neural networks that encode the signed distance have gained popularity and have achieved state-of-the-art results in various tasks (e.g. shape representation, shape reconstruction,…
Real-time 3D reconstruction from RGB-D sensor data plays an important role in many robotic applications, such as object modeling and mapping. The popular method of fusing depth information into a truncated signed distance function (TSDF)…
The development of vision-based tactile sensors has significantly enhanced robots' perception and manipulation capabilities, especially for tasks requiring contact-rich interactions with objects. In this work, we present DTactive, a novel…
Modern incarnations of tactile sensors produce high-dimensional raw sensory feedback such as images, making it challenging to efficiently store, process, and generalize across sensors. To address these concerns, we introduce a novel…
There is a growing demand for the accessible creation of high-quality 3D avatars that are animatable and customizable. Although 3D morphable models provide intuitive control for editing and animation, and robustness for single-view face…