Related papers: Rational Linkages: From Poses to 3D-printed Protot…
In order to generate novel 3D shapes with machine learning, one must allow for interpolation. The typical approach for incorporating this creative process is to interpolate in a learned latent space so as to avoid the problem of generating…
Relative spatial relations provide a compact representation of spatial structure and are fundamental to relative spatial reasoning in 3D layout generation. Recent works leverage Multimodal Large Language Models (MLLMs) to infer such…
We introduce a method for modeling a configuration of objects in 2D or 3D images using a mathematical "skeletal linking structure" which will simultaneously capture the individual shape features of the objects and their positional…
The integration of multi-view imaging and pose estimation represents a significant advance in computer vision applications, offering new possibilities for understanding human movement and interactions. This work presents a new algorithm…
The arrangement of objects into a layout can be challenging for non-experts, as is affirmed by the existence of interior design professionals. Recent research into the automation of this task has yielded methods that can synthesize layouts…
We propose a CNN-based approach for multi-camera markerless motion capture of the human body. Unlike existing methods that first perform pose estimation on individual cameras and generate 3D models as post-processing, our approach makes use…
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…
Reconstructing 3D human-object interaction (HOI) from single-view RGB images is challenging due to the absence of depth information and potential occlusions. Existing methods simply predict the body poses merely rely on network training on…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
Estimating 3D poses and shapes in the form of meshes from monocular RGB images is challenging. Obviously, it is more difficult than estimating 3D poses only in the form of skeletons or heatmaps. When interacting persons are involved, the 3D…
3D human pose lifting from a single RGB image is a challenging task in 3D vision. Existing methods typically establish a direct joint-to-joint mapping from 2D to 3D poses based on 2D features. This formulation suffers from two fundamental…
Typical leg exoskeletons employ open-loop kinematic chains with motors placed directly on movable joints; while this design offers flexibility, it leads to increased costs and heightened control complexity due to the high number of degrees…
This note is a complete library of symbolic parametrized expressions for both real and complexified configuration spaces of a planar 4-bar linkage. Building upon the previous work from Izmestiev (2015), this library expands on the…
This paper propose a interactive 3D modeling method and corresponding system based on single or multiple uncalibrated images. The main feature of this method is that, according to the modeling habits of ordinary people, the 3D model of the…
We provide first the functional analysis background required for reduced order modeling and present the underlying concepts of reduced basis model reduction. The projection-based model reduction framework under affinity assumptions,…
Technologies to enable safe and effective collaboration and coexistence between humans and robots have gained significant importance in the last few years. A critical component useful for realizing this collaborative paradigm is the…
The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both serial mechanisms and parallel kinematic architectures.…
Pairwise pose estimation from images with little or no overlap is an open challenge in computer vision. Existing methods, even those trained on large-scale datasets, struggle in these scenarios due to the lack of identifiable…
Accurate estimation of 3D human motion from monocular video requires modeling both kinematics (body motion without physical forces) and dynamics (motion with physical forces). To demonstrate this, we present SimPoE, a Simulation-based…
Accurate 6D pose estimation is key for robotic manipulation, enabling precise object localization for tasks like grasping. We present RAG-6DPose, a retrieval-augmented approach that leverages 3D CAD models as a knowledge base by integrating…