Related papers: TouchSDF: A DeepSDF Approach for 3D Shape Reconstr…
Signed distance fields (SDFs) are a widely used implicit surface representation, with broad applications in computer graphics, computer vision, and applied mathematics. To reconstruct an explicit triangle mesh surface corresponding to an…
Learning neural implicit representations has achieved remarkable performance in 3D reconstruction from multi-view images. Current methods use volume rendering to render implicit representations into either RGB or depth images that are…
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…
Hardness is among the most important attributes of an object that humans learn about through touch. However, approaches for robots to estimate hardness are limited, due to the lack of information provided by current tactile sensors. In this…
We introduce a high resolution, 3D-consistent image and shape generation technique which we call StyleSDF. Our method is trained on single-view RGB data only, and stands on the shoulders of StyleGAN2 for image generation, while solving two…
The importance of force perception in interacting with the environment was proven years ago. However, it is still a challenge to measure the contact force distribution accurately in real-time. In order to break through this predicament, we…
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…
We present a novel real-time capable learning method that jointly perceives a 3D scene's geometry structure and semantic labels. Recent approaches to real-time 3D scene reconstruction mostly adopt a volumetric scheme, where a Truncated…
Tactile sensing is a fundamental modality for embodied intelligence, offering unique and direct feedback on contact geometry, material properties, and interaction dynamics that remote sensors cannot replace. However, unimodal tactile…
Dense 3D reconstruction from a stream of depth images is the key to many mixed reality and robotic applications. Although methods based on Truncated Signed Distance Function (TSDF) Fusion have advanced the field over the years, the TSDF…
Recent work has made significant progress on using implicit functions, as a continuous representation for 3D rigid object shape reconstruction. However, much less effort has been devoted to modeling general articulated objects. Compared to…
To achieve human-like haptic perception in anthropomorphic grippers, the compliant sensing surfaces of vision tactile sensor (VTS) must evolve from conventional planar configurations to biomimetically curved topographies with continuous…
Electrical impedance tomography (EIT) provides an attractive solution for large-area tactile sensing due to its minimal wiring and shape flexibility, but its nonlinear inverse problem often leads to severe artifacts and inaccurate contact…
Vision-Based Tactile Sensors (VBTS) are essential for achieving dexterous robotic manipulation, yet the tactile sim-to-real gap remains a fundamental bottleneck. Current tactile simulations suffer from a persistent dilemma: simplified…
We propose a deep learning approach for finding dense correspondences between 3D scans of people. Our method requires only partial geometric information in the form of two depth maps or partial reconstructed surfaces, works for humans in…
We propose 3DBooSTeR, a novel method to recover a textured 3D body mesh from a textured partial 3D scan. With the advent of virtual and augmented reality, there is a demand for creating realistic and high-fidelity digital 3D human…
The objective of this paper is to learn dense 3D shape correspondence for topology-varying generic objects in an unsupervised manner. Conventional implicit functions estimate the occupancy of a 3D point given a shape latent code. Instead,…
Depth in the real world is rarely singular. Transmissive materials create layered ambiguities that confound conventional perception systems. Existing models remain passive; conventional approaches typically estimate static depth maps…
Active-stereo-based 3D shape measurement is crucial for various purposes, such as industrial inspection, reverse engineering, and medical systems, due to its strong ability to accurately acquire the shape of textureless objects. Active…
We introduce a novel approach for the reconstruction of tubular shapes from skeletal representations. Our method processes all skeletal points as a whole, eliminating the need for splitting input structure into multiple segments. We…